+ python -m lidar_slam --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.14 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad 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 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters Centerline goodness : 0.691090 Centerline is valid? [0, False] SLAMing on 0.033617865 meters Centerline goodness : 0.665060 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999328e-01 -8.67793198e-04 -7.68273197e-04 2.68799252e-03] [ 8.66705426e-04 9.99998623e-01 -1.41506866e-03 4.63611074e-03] [ 7.69500126e-04 1.41440184e-03 9.99998704e-01 -1.42645810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063617865 meters Centerline goodness : 0.652069 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999682 -0.00203428 -0.00149023 0.00524986] [ 0.00203027 0.99999432 -0.00269062 0.0079533 ] [ 0.0014957 0.00268759 0.99999527 -0.00243796] [ 0. 0. 0. 1. ]] SLAMing on 0.09361786499999998 meters Centerline goodness : 0.632366 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999231 -0.0032065 -0.00225917 0.00779212] [ 0.00319841 0.99998849 -0.00357652 0.01018307] [ 0.00227061 0.00356926 0.99999105 -0.00308388] [ 0. 0. 0. 1. ]] SLAMing on 0.12361786499999998 meters Centerline goodness : 0.441644 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99999035 -0.00360704 -0.00250911 0.03363154] [ 0.0035982 0.99998734 -0.00351719 0.00919597] [ 0.00252177 0.00350813 0.99999067 -0.00177319] [ 0. 0. 0. 1. ]] SLAMing on 0.15361786499999996 meters Centerline goodness : 0.453967 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99998328 -0.0048487 -0.00315194 0.03583664] [ 0.00483608 0.99998031 -0.00399966 0.01057047] [ 0.00317127 0.00398435 0.99998703 -0.00189517] [ 0. 0. 0. 1. ]] SLAMing on 0.18361786499999996 meters Centerline goodness : 0.394048 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99997102 -0.00651755 -0.00393457 0.03886353] [ 0.00649878 0.99996753 -0.00476592 0.01223052] [ 0.0039655 0.00474021 0.9999809 -0.00247623] [ 0. 0. 0. 1. ]] SLAMing on 0.21361786499999996 meters SLAMing on 0.24361786499999996 meters SLAMing on 0.27361786499999996 meters SLAMing on 0.30361786499999993 meters Centerline goodness : 0.373313 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.00 [[ 0.99974102 -0.02272375 0.00123764 0.10093981] [ 0.0227185 0.99973348 0.00410277 0.01874453] [-0.00133054 -0.00407359 0.99999082 -0.00116966] [ 0. 0. 0. 1. ]] SLAMing on 0.33361786499999996 meters SLAMing on 0.36361786499999993 meters Centerline goodness : 0.425641 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.00 [[ 9.99727018e-01 -2.28843631e-02 4.71129799e-03 1.22847216e-01] [ 2.28857880e-02 9.99738055e-01 -2.48762197e-04 2.49092587e-02] [-4.70437112e-03 3.56516056e-04 9.99988871e-01 -2.99746611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39361786499999996 meters Centerline goodness : 0.229283 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.00 [[ 0.99972285 -0.02219469 0.00785025 0.14646881] [ 0.02221681 0.99974942 -0.00274156 0.03179096] [-0.00778743 0.00291521 0.99996543 -0.00466441] [ 0. 0. 0. 1. ]] SLAMing on 0.4236178649999999 meters Centerline goodness : 0.224487 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.00 [[ 9.99757375e-01 -2.10185351e-02 6.58884829e-03 1.51214281e-01] [ 2.10187397e-02 9.99779081e-01 3.82125410e-05 3.47861387e-02] [-6.58819586e-03 1.00286017e-04 9.99978293e-01 -4.96397123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45361786499999995 meters Centerline goodness : 0.224832 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.01 [[ 0.99977979 -0.02033734 0.00517302 0.15681319] [ 0.02032596 0.99979089 0.00224361 0.03894748] [-0.00521757 -0.00213797 0.9999841 -0.00572874] [ 0. 0. 0. 1. ]] SLAMing on 0.4836178649999999 meters Centerline goodness : 0.222322 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.01 [[ 9.99800725e-01 -1.84074013e-02 7.72508144e-03 1.80938154e-01] [ 1.84107952e-02 9.99830439e-01 -3.68446034e-04 4.89924293e-02] [-7.71698943e-03 5.10597504e-04 9.99970093e-01 -8.09872152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.513617865 meters Centerline goodness : 0.219313 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.01 [[ 0.99983593 -0.01688368 0.00656098 0.18562395] [ 0.01686858 0.99985495 0.00234997 0.05270117] [-0.00659971 -0.00223891 0.99997572 -0.00850933] [ 0. 0. 0. 1. ]] SLAMing on 0.543617865 meters Centerline goodness : 0.217695 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.01 [[ 0.99986688 -0.01537985 0.0054479 0.19030393] [ 0.0153532 0.99987012 0.00490117 0.05680392] [-0.00552257 -0.00481688 0.99997315 -0.00912876] [ 0. 0. 0. 1. ]] SLAMing on 0.573617865 meters Centerline goodness : 0.217133 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99870275e-01 -1.33153765e-02 9.06274481e-03 2.08968591e-01] [ 1.33147568e-02 9.99911346e-01 1.28714557e-04 6.31823257e-02] [-9.06365525e-03 -8.02961665e-06 9.99958924e-01 -1.21430383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6036178649999999 meters Centerline goodness : 0.112301 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.01 [[ 0.99991351 -0.01128001 0.00676326 0.21812845] [ 0.01124612 0.99992412 0.00502758 0.07349946] [-0.00681946 -0.00495108 0.99996449 -0.01094466] [ 0. 0. 0. 1. ]] SLAMing on 0.633617865 meters Centerline goodness : 0.117694 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.01 [[ 9.99904096e-01 -8.66286125e-03 1.08052957e-02 2.36096487e-01] [ 8.65455070e-03 9.99962216e-01 8.15641087e-04 8.05153948e-02] [-1.08119533e-02 -7.22047883e-04 9.99941288e-01 -1.34768642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663617865 meters Centerline goodness : 0.119509 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.01 [[ 0.99993443 -0.00672214 0.00927034 0.24482916] [ 0.00667374 0.99996399 0.00524245 0.09238236] [-0.00930524 -0.00518024 0.99994329 -0.01300836] [ 0. 0. 0. 1. ]] SLAMing on 0.693617865 meters Centerline goodness : 0.119891 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.01 [[ 0.99994829 -0.00581282 0.00834442 0.24978792] [ 0.00575086 0.99995586 0.00743032 0.09826971] [-0.00838725 -0.00738195 0.99993758 -0.01330483] [ 0. 0. 0. 1. ]] SLAMing on 0.7236178649999999 meters Centerline goodness : 0.102152 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.01 [[ 0.99995914 -0.00454208 0.0078156 0.2540495 ] [ 0.00446658 0.99994346 0.00965014 0.10333597] [-0.00785899 -0.00961484 0.99992289 -0.01400162] [ 0. 0. 0. 1. ]] SLAMing on 0.7536178649999999 meters Centerline goodness : 0.112493 Centerline is valid? [False, False] Translation: X:0.26, Y:0.11, Z:-0.02 [[ 0.99995693 -0.0056459 0.00736561 0.25781989] [ 0.00558392 0.99994905 0.00840908 0.11079651] [-0.00741271 -0.00836759 0.99993752 -0.01510588] [ 0. 0. 0. 1. ]] SLAMing on 0.783617865 meters Centerline goodness : 0.144849 Centerline is valid? [False, False] Translation: X:0.27, Y:0.12, Z:-0.02 [[ 0.99995821 -0.00689199 0.00600685 0.26768445] [ 0.00682909 0.99992229 0.01043011 0.12249405] [-0.00607827 -0.01038865 0.99992756 -0.01553455] [ 0. 0. 0. 1. ]] SLAMing on 0.8136178649999999 meters Centerline goodness : 0.117420 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:-0.02 [[ 0.99994751 -0.00861102 0.00555284 0.27158585] [ 0.00856017 0.9999218 0.0091169 0.1287015 ] [-0.00563091 -0.00906888 0.99994302 -0.01629757] [ 0. 0. 0. 1. ]] SLAMing on 0.8436178649999999 meters Centerline goodness : 0.119414 Centerline is valid? [False, False] Translation: X:0.28, Y:0.13, Z:-0.02 [[ 0.99993049 -0.01106232 0.00407926 0.2776299 ] [ 0.01102786 0.99990411 0.00837572 0.13450392] [-0.00417153 -0.00833016 0.9999566 -0.01616775] [ 0. 0. 0. 1. ]] SLAMing on 0.8736178649999999 meters Centerline goodness : 0.109010 Centerline is valid? [False, False] Translation: X:0.29, Y:0.14, Z:-0.02 [[ 0.99987944 -0.01530988 0.0025917 0.29024037] [ 0.01528512 0.99983975 0.00931879 0.14263138] [-0.00273395 -0.00927805 0.99995322 -0.01789404] [ 0. 0. 0. 1. ]] SLAMing on 0.903617865 meters Centerline goodness : 0.626201 Centerline is valid? [False, False] Translation: X:0.29, Y:0.15, Z:-0.02 [[ 0.99984633 -0.01738686 0.00223981 0.29431067] [ 0.01736855 0.99981753 0.00795198 0.14636104] [-0.00237766 -0.00791185 0.99996587 -0.0193871 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9336178649999999 meters Centerline goodness : 0.111052 Centerline is valid? [False, False] Translation: X:0.30, Y:0.15, Z:-0.02 [[ 0.99981584 -0.01905867 0.00224791 0.29740443] [ 0.01904227 0.99979345 0.00710301 0.14873655] [-0.00238282 -0.0070589 0.99997225 -0.02066162] [ 0. 0. 0. 1. ]] SLAMing on 0.9636178649999999 meters Centerline goodness : 0.524124 Centerline is valid? [False, False] Translation: X:0.31, Y:0.15, Z:-0.02 [[ 9.99646248e-01 -2.65931165e-02 4.29597638e-04 3.11774102e-01] [ 2.65899507e-02 9.99627255e-01 6.19073707e-03 1.52958368e-01] [-5.94068499e-04 -6.17712411e-03 9.99980745e-01 -2.29716843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9936178649999999 meters Centerline goodness : 0.143556 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:-0.03 [[ 9.99584180e-01 -2.88351776e-02 -1.98668461e-05 3.16648347e-01] [ 2.88348937e-02 9.99570772e-01 5.17893820e-03 1.53908862e-01] [-1.29477284e-04 -5.17735755e-03 9.99986589e-01 -2.52637799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0236178649999998 meters Centerline goodness : 0.170513 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:-0.03 [[ 9.99525201e-01 -3.08110182e-02 -2.33403805e-04 3.21057193e-01] [ 3.08117403e-02 9.99515830e-01 4.32926069e-03 1.54640062e-01] [ 9.99018684e-05 -4.33439673e-03 9.99990601e-01 -2.76708313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0536178649999999 meters Centerline goodness : 0.532319 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99929978 -0.03737827 -0.00167494 0.33703524] [ 0.0373864 0.99928777 0.00511996 0.15660424] [ 0.00148237 -0.005179 0.99998549 -0.0315143 ] [ 0. 0. 0. 1. ]] SLAMing on 1.083617865 meters Centerline goodness : 0.532319 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99929978 -0.03737827 -0.00167494 0.33703524] [ 0.0373864 0.99928777 0.00511996 0.15660424] [ 0.00148237 -0.005179 0.99998549 -0.0315143 ] [ 0. 0. 0. 1. ]] SLAMing on 1.113617865 meters Centerline goodness : 0.732812 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99926556 -0.03826549 -0.00202284 0.34215072] [ 0.03827533 0.99925437 0.00506942 0.15710841] [ 0.00182735 -0.00514313 0.9999851 -0.03484615] [ 0. 0. 0. 1. ]] SLAMing on 1.143617865 meters Centerline goodness : 0.140461 Centerline is valid? [False, False] Translation: X:0.35, Y:0.16, Z:-0.04 [[ 0.99924828 -0.03868958 -0.0024475 0.34759464] [ 0.03870204 0.99923692 0.00526681 0.15802027] [ 0.00224186 -0.00535758 0.99998314 -0.03860856] [ 0. 0. 0. 1. ]] SLAMing on 1.173617865 meters Centerline goodness : 0.759188 Centerline is valid? [False, False] Translation: X:0.37, Y:0.16, Z:-0.04 [[ 0.99933764 -0.03611719 -0.00445266 0.37480765] [ 0.03613991 0.99933356 0.00513224 0.16017638] [ 0.00426433 -0.00528976 0.99997692 -0.04287202] [ 0. 0. 0. 1. ]] SLAMing on 1.2036178649999998 meters Centerline goodness : 0.777930 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 0.99938825 -0.03455669 -0.00538162 0.38034391] [ 0.03459399 0.99937695 0.00699802 0.16157667] [ 0.00513644 -0.00717991 0.99996103 -0.04631944] [ 0. 0. 0. 1. ]] SLAMing on 1.2336178649999998 meters Centerline goodness : 0.541519 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99956794 -0.02873011 -0.00620532 0.39493326] [ 0.02874545 0.99958389 0.002396 0.16362615] [ 0.0061339 -0.00257334 0.99997788 -0.04919082] [ 0. 0. 0. 1. ]] SLAMing on 1.2636178649999998 meters Centerline goodness : 0.798857 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:-0.05 [[ 0.99959759 -0.02742351 -0.00725271 0.40076263] [ 0.02745159 0.99961591 0.00380009 0.16509082] [ 0.00714572 -0.00399766 0.99996648 -0.05303452] [ 0. 0. 0. 1. ]] SLAMing on 1.2936178649999999 meters Centerline goodness : 0.273401 Centerline is valid? [False, False] Translation: X:0.41, Y:0.17, Z:-0.06 [[ 0.99960016 -0.02699437 -0.00841604 0.40684656] [ 0.02702979 0.99962612 0.00412422 0.1671663 ] [ 0.00830156 -0.00435006 0.99995608 -0.05696105] [ 0. 0. 0. 1. ]] SLAMing on 1.323617865 meters Centerline goodness : 0.507878 Centerline is valid? [False, False] Translation: X:0.43, Y:0.17, Z:-0.06 [[ 0.99963345 -0.02509607 -0.01015688 0.432878 ] [ 0.02512803 0.99967965 0.00303075 0.17000495] [ 0.01007756 -0.00328487 0.99994382 -0.06007156] [ 0. 0. 0. 1. ]] SLAMing on 1.353617865 meters Centerline goodness : 0.544488 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.06 [[ 0.99961292 -0.02556607 -0.01097242 0.43784295] [ 0.02559574 0.99966907 0.00257218 0.17164752] [ 0.01090302 -0.00285203 0.99993649 -0.06336255] [ 0. 0. 0. 1. ]] SLAMing on 1.383617865 meters Centerline goodness : 0.800861 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.07 [[ 0.99957421 -0.02675173 -0.01165125 0.44149712] [ 0.02676901 0.99964076 0.00133005 0.17387225] [ 0.01161148 -0.00164137 0.99993124 -0.06543713] [ 0. 0. 0. 1. ]] SLAMing on 1.4136178649999998 meters Centerline goodness : 0.806215 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 9.99549824e-01 -2.72851000e-02 -1.24768527e-02 4.66972944e-01] [ 2.72781663e-02 9.99627618e-01 -7.25602825e-04 1.75465571e-01] [ 1.24920047e-02 3.84930514e-04 9.99921898e-01 -6.80671717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4436178649999998 meters Centerline goodness : 0.841900 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 0.99950352 -0.02861014 -0.01319711 0.47066795] [ 0.02858959 0.99958971 -0.00174305 0.17660786] [ 0.01324156 0.00136489 0.9999114 -0.07002633] [ 0. 0. 0. 1. ]] SLAMing on 1.4736178649999998 meters Centerline goodness : 0.819545 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 0.99945377 -0.02994605 -0.01397858 0.47439 ] [ 0.02991255 0.99954914 -0.0025998 0.17714894] [ 0.01405013 0.00218024 0.99989892 -0.07193879] [ 0. 0. 0. 1. ]] SLAMing on 1.5036178649999998 meters Centerline goodness : 0.825232 Centerline is valid? [False, False] Translation: X:0.48, Y:0.18, Z:-0.08 [[ 0.99930927 -0.03445414 -0.01392487 0.48014713] [ 0.03438268 0.99939448 -0.0053392 0.17681379] [ 0.0141004 0.00485673 0.99988879 -0.07555342] [ 0. 0. 0. 1. ]] SLAMing on 1.5336178649999999 meters Centerline goodness : 0.869445 Centerline is valid? [False, False] Translation: X:0.48, Y:0.18, Z:-0.08 [[ 0.99924172 -0.03606094 -0.01468291 0.48398215] [ 0.03597604 0.99933461 -0.00600594 0.17531751] [ 0.01488972 0.00547315 0.99987416 -0.07742897] [ 0. 0. 0. 1. ]] SLAMing on 1.5636178649999999 meters Centerline goodness : 0.855445 Centerline is valid? [False, False] Translation: X:0.49, Y:0.17, Z:-0.08 [[ 0.99916577 -0.03778376 -0.01549654 0.48831897] [ 0.03768228 0.99926671 -0.00678936 0.17360196] [ 0.0157417 0.00619975 0.99985687 -0.07981646] [ 0. 0. 0. 1. ]] SLAMing on 1.593617865 meters Centerline goodness : 0.879311 Centerline is valid? [False, False] Translation: X:0.49, Y:0.17, Z:-0.08 [[ 0.99895448 -0.04298736 -0.01555716 0.49483478] [ 0.04283598 0.9990327 -0.00993675 0.17124928] [ 0.01596927 0.00925996 0.9998296 -0.08424633] [ 0. 0. 0. 1. ]] SLAMing on 1.6236178649999997 meters Centerline goodness : 0.180350 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.09 [[ 0.99888358 -0.04430908 -0.01637979 0.49871638] [ 0.04414416 0.99897211 -0.01029693 0.16934033] [ 0.0168192 0.00956236 0.99981282 -0.0860604 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6536178649999997 meters Centerline goodness : 0.881181 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.09 [[ 0.99884404 -0.04493529 -0.01707077 0.50178947] [ 0.04477543 0.99895062 -0.0096345 0.16644057] [ 0.01748579 0.00885901 0.99980786 -0.08703722] [ 0. 0. 0. 1. ]] SLAMing on 1.6836178649999998 meters Centerline goodness : 0.891878 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.09 [[ 9.98811177e-01 -4.71495554e-02 -1.23754472e-02 5.17305407e-01] [ 4.71344607e-02 9.98887414e-01 -1.50873870e-03 1.56436500e-01] [ 1.24328148e-02 9.23635049e-04 9.99922283e-01 -9.11791770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7136178649999998 meters Centerline goodness : 0.942307 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.10 [[ 0.9989481 -0.04486214 -0.00949077 0.53165044] [ 0.04476634 0.99894666 -0.01007654 0.15737801] [ 0.00993283 0.00964107 0.99990419 -0.09604643] [ 0. 0. 0. 1. ]] SLAMing on 1.7436178649999998 meters Centerline goodness : 0.944090 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.10 [[ 0.99893048 -0.0450296 -0.01049906 0.53477459] [ 0.0449261 0.99894132 -0.00989417 0.15643232] [ 0.01093348 0.0094119 0.99989593 -0.09720193] [ 0. 0. 0. 1. ]] SLAMing on 1.7736178649999998 meters Centerline goodness : 0.946718 Centerline is valid? [False, False] Translation: X:0.56, Y:0.15, Z:-0.10 [[ 0.99912075 -0.0405747 -0.01055602 0.55907552] [ 0.04052759 0.99916765 -0.00463927 0.15074079] [ 0.01073547 0.00420738 0.99993352 -0.09789764] [ 0. 0. 0. 1. ]] SLAMing on 1.8036178649999999 meters Centerline goodness : 0.784025 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.10 [[ 0.99930247 -0.03715058 -0.00379566 0.57198951] [ 0.0371151 0.99927024 -0.00902506 0.15200466] [ 0.00412818 0.00887789 0.99995207 -0.10224281] [ 0. 0. 0. 1. ]] SLAMing on 1.8336178649999997 meters Centerline goodness : 0.142701 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.10 [[ 0.99943484 -0.03329984 -0.00459608 0.57393686] [ 0.03328026 0.99943693 -0.00427214 0.14981051] [ 0.00473575 0.00411677 0.99998031 -0.10231543] [ 0. 0. 0. 1. ]] SLAMing on 1.8636178649999997 meters Centerline goodness : 0.952546 Centerline is valid? [False, True] Translation: X:0.59, Y:0.15, Z:-0.10 [[ 9.99571913e-01 -2.92555434e-02 -3.22940296e-04 5.92808922e-01] [ 2.92537452e-02 9.99561380e-01 -4.61143004e-03 1.52007544e-01] [ 4.57708540e-04 4.60000873e-03 9.99989315e-01 -1.04102795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8936178649999997 meters Centerline goodness : 0.935000 Centerline is valid? [True, False] Translation: X:0.60, Y:0.15, Z:-0.11 [[ 0.99965689 -0.0261548 -0.00142321 0.59621057] [ 0.02615262 0.9996568 -0.00152551 0.15245531] [ 0.00146262 0.00148777 0.99999782 -0.10565146] [ 0. 0. 0. 1. ]] SLAMing on 1.9236178649999998 meters Centerline goodness : 0.941407 Centerline is valid? [False, False] Translation: X:0.60, Y:0.15, Z:-0.11 [[ 0.99972724 -0.0232007 -0.00267934 0.59997012] [ 0.02320431 0.99972987 0.00132144 0.15363892] [ 0.00264796 -0.00138325 0.99999554 -0.10736985] [ 0. 0. 0. 1. ]] SLAMing on 1.9536178649999998 meters Centerline goodness : 0.957120 Centerline is valid? [False, True] Translation: X:0.60, Y:0.16, Z:-0.11 [[ 0.99977748 -0.02073535 -0.00387719 0.60411055] [ 0.02074915 0.9997784 0.00355285 0.1554174 ] [ 0.00380266 -0.00363251 0.99998617 -0.10964285] [ 0. 0. 0. 1. ]] SLAMing on 1.9836178649999998 meters Centerline goodness : 0.958325 Centerline is valid? [True, True] Translation: X:0.64, Y:0.16, Z:-0.11 [[ 0.99979861 -0.01879843 -0.00702605 0.64009257] [ 0.01880659 0.99982254 0.00109697 0.16262769] [ 0.00700418 -0.00122889 0.99997472 -0.11063208] [ 0. 0. 0. 1. ]] SLAMing on 2.0136178649999996 meters Centerline goodness : 0.615138 Centerline is valid? [True, False] Translation: X:0.64, Y:0.16, Z:-0.11 [[ 0.99980321 -0.01800963 -0.0083179 0.64459601] [ 0.01802269 0.99983646 0.00149762 0.16453153] [ 0.00828957 -0.00164724 0.99996428 -0.11302106] [ 0. 0. 0. 1. ]] SLAMing on 2.0436178649999994 meters Centerline goodness : 0.843891 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.11 [[ 9.99778751e-01 -1.87880283e-02 -9.45823184e-03 6.47633320e-01] [ 1.87901298e-02 9.99823441e-01 1.33368898e-04 1.67452509e-01] [ 9.45405617e-03 -3.11060794e-04 9.99955261e-01 -1.14075669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0736178649999997 meters Centerline goodness : 0.904730 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.12 [[ 0.99972787 -0.02096506 -0.01022979 0.65144817] [ 0.02093898 0.99977724 -0.00265053 0.17345578] [ 0.01028308 0.00243561 0.99994416 -0.11569699] [ 0. 0. 0. 1. ]] SLAMing on 2.1036178649999995 meters Centerline goodness : 0.928856 Centerline is valid? [False, False] Translation: X:0.65, Y:0.18, Z:-0.12 [[ 0.9996933 -0.02205136 -0.01127131 0.6543169 ] [ 0.02200387 0.99974855 -0.00432022 0.17693721] [ 0.01136375 0.00407088 0.99992714 -0.1167065 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1336178649999997 meters Centerline goodness : 0.921105 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.12 [[ 0.99976993 -0.01930186 -0.00935596 0.6681734 ] [ 0.01917462 0.99972496 -0.01350356 0.18187349] [ 0.00961403 0.01332106 0.99986505 -0.12065397] [ 0. 0. 0. 1. ]] SLAMing on 2.1636178649999995 meters Centerline goodness : 0.956066 Centerline is valid? [False, True] Translation: X:0.67, Y:0.18, Z:-0.12 [[ 0.99974531 -0.02003297 -0.01039238 0.67093659] [ 0.0198798 0.9996952 -0.01463886 0.18439885] [ 0.01068247 0.01442853 0.99983884 -0.1215828 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1936178649999993 meters Centerline goodness : 0.964614 Centerline is valid? [True, True] Translation: X:0.71, Y:0.21, Z:-0.14 [[ 0.99977229 -0.01754651 -0.0121441 0.71427132] [ 0.01702346 0.99897631 -0.04191095 0.20554828] [ 0.01286706 0.04169467 0.99904754 -0.14229807] [ 0. 0. 0. 1. ]] SLAMing on 2.2236178649999996 meters Centerline goodness : 0.964966 Centerline is valid? [True, True] Translation: X:0.75, Y:0.16, Z:-0.11 [[ 0.99961066 -0.01789159 -0.02141083 0.75169548] [ 0.01847993 0.99944812 0.02760343 0.16162011] [ 0.02090515 -0.02798835 0.99938963 -0.109902 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2536178649999994 meters Centerline goodness : 0.965925 Centerline is valid? [True, True] Translation: X:0.78, Y:0.17, Z:-0.11 [[ 9.99587012e-01 -2.24730912e-02 -1.79099047e-02 7.79433747e-01] [ 2.24670153e-02 9.99747439e-01 -5.40406094e-04 1.73831923e-01] [ 1.79175259e-02 1.37800809e-04 9.99839459e-01 -1.11473279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2836178649999996 meters Centerline goodness : 0.970350 Centerline is valid? [True, True] Translation: X:0.82, Y:0.16, Z:-0.10 [[ 0.99963327 -0.01540681 -0.02226991 0.81917865] [ 0.01623094 0.99917183 0.03731236 0.15658276] [ 0.0216766 -0.03766014 0.99905547 -0.09703723] [ 0. 0. 0. 1. ]] SLAMing on 2.3136178649999994 meters Centerline goodness : 0.970182 Centerline is valid? [True, True] Translation: X:0.84, Y:0.21, Z:-0.13 [[ 0.99974809 -0.01462055 -0.01702906 0.83731283] [ 0.0136718 0.99841708 -0.05455662 0.20988349] [ 0.01779975 0.05431005 0.99836546 -0.1347043 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3436178649999997 meters Centerline goodness : 0.977564 Centerline is valid? [True, True] Translation: X:0.92, Y:0.12, Z:-0.09 [[ 0.99969893 -0.01898473 -0.01554465 0.91572517] [ 0.02059777 0.993584 0.11120505 0.11825524] [ 0.01333372 -0.11149176 0.9936759 -0.08643591] [ 0. 0. 0. 1. ]] SLAMing on 2.3736178649999995 meters Centerline goodness : 0.972507 Centerline is valid? [True, True] Translation: X:0.89, Y:0.24, Z:-0.13 [[ 0.99969045 -0.01387253 -0.02065333 0.89423345] [ 0.01138706 0.99319101 -0.11593946 0.23596842] [ 0.02212108 0.11566839 0.99304153 -0.12631847] [ 0. 0. 0. 1. ]] SLAMing on 2.4036178649999993 meters Centerline goodness : 0.978423 Centerline is valid? [True, True] Translation: X:0.94, Y:0.14, Z:-0.10 [[ 0.99974866 -0.01839475 -0.01281628 0.93940132] [ 0.01898581 0.99868441 0.04763393 0.14282627] [ 0.01192321 -0.04786529 0.99878263 -0.09889597] [ 0. 0. 0. 1. ]] SLAMing on 2.4336178649999995 meters Centerline goodness : 0.978432 Centerline is valid? [True, True] Translation: X:0.97, Y:0.18, Z:-0.12 [[ 0.99974441 -0.0175096 -0.01430124 0.96799364] [ 0.01719751 0.99961743 -0.02166184 0.17978953] [ 0.01467506 0.02141036 0.99966306 -0.11599349] [ 0. 0. 0. 1. ]] SLAMing on 2.4636178649999994 meters Centerline goodness : 0.981666 Centerline is valid? [True, True] Translation: X:1.00, Y:0.16, Z:-0.11 [[ 0.9997625 -0.02089034 -0.00620862 1.0043613 ] [ 0.02094788 0.99973683 0.00935223 0.16219673] [ 0.00601161 -0.00948007 0.99993699 -0.1097177 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4936178649999996 meters Centerline goodness : 0.982831 Centerline is valid? [True, True] Translation: X:1.04, Y:0.17, Z:-0.11 [[ 0.9997222 -0.02191402 -0.00867717 1.03883493] [ 0.02188822 0.99975575 -0.00305729 0.16908682] [ 0.00874205 0.00286651 0.99995768 -0.11114416] [ 0. 0. 0. 1. ]] SLAMing on 2.5236178649999994 meters Centerline goodness : 0.985143 Centerline is valid? [True, True] Translation: X:1.07, Y:0.16, Z:-0.11 [[ 0.99966555 -0.02427636 -0.00891375 1.07213945] [ 0.02432164 0.99969164 0.00500752 0.16076958] [ 0.00878944 -0.00522264 0.99994773 -0.10517413] [ 0. 0. 0. 1. ]] SLAMing on 2.5536178649999997 meters Centerline goodness : 0.986456 Centerline is valid? [True, True] Translation: X:1.10, Y:0.16, Z:-0.10 [[ 0.99962125 -0.02586957 -0.00938706 1.10480338] [ 0.02590854 0.9996561 0.00405322 0.15883515] [ 0.00927897 -0.00429489 0.99994773 -0.10458166] [ 0. 0. 0. 1. ]] SLAMing on 2.5836178649999995 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:1.16, Y:0.15, Z:-0.10 [[ 0.99940601 -0.03353761 -0.00792871 1.1613354 ] [ 0.03368237 0.99925407 0.01888906 0.1496685 ] [ 0.0072893 -0.01914489 0.99979015 -0.1044537 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6136178649999993 meters Centerline goodness : 0.988351 Centerline is valid? [True, True] Translation: X:1.18, Y:0.16, Z:-0.10 [[ 0.99937224 -0.03304616 -0.01277033 1.1800046 ] [ 0.03283755 0.99932918 -0.01621386 0.16281192] [ 0.01329757 0.01578434 0.99978699 -0.10381539] [ 0. 0. 0. 1. ]] SLAMing on 2.6436178649999995 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:1.22, Y:0.11, Z:-0.08 [[ 0.99927783 -0.03739565 0.00673611 1.22016307] [ 0.0365933 0.99485478 0.09447166 0.10524132] [-0.01023428 -0.09415693 0.99550476 -0.08362083] [ 0. 0. 0. 1. ]] SLAMing on 2.6736178649999993 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:1.25, Y:0.18, Z:-0.11 [[ 0.9992092 -0.03726987 -0.01385393 1.25188223] [ 0.03648246 0.99791181 -0.05330151 0.18003577] [ 0.01581154 0.05275394 0.99848236 -0.10858338] [ 0. 0. 0. 1. ]] SLAMing on 2.7036178649999996 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:1.28, Y:0.12, Z:-0.09 [[ 0.99920115 -0.03972657 0.00434364 1.27916361] [ 0.03944728 0.99786586 0.05203489 0.12171004] [-0.00640154 -0.05182198 0.99863582 -0.0906447 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7336178649999994 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:1.31, Y:0.15, Z:-0.10 [[ 9.99254683e-01 -3.85283026e-02 2.37663983e-03 1.30921819e+00] [ 3.85276498e-02 9.99257483e-01 3.19882438e-04 1.45051438e-01] [-2.38719966e-03 -2.28077677e-04 9.99997125e-01 -9.90414512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7636178649999996 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:1.34, Y:0.14, Z:-0.10 [[ 0.99923721 -0.03882803 0.00416826 1.33746239] [ 0.03885995 0.99921365 -0.00787253 0.14427607] [-0.00385931 0.0080285 0.99996032 -0.10336358] [ 0. 0. 0. 1. ]] SLAMing on 2.7936178649999994 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:1.36, Y:0.13, Z:-0.09 [[ 0.9992131 -0.03958841 0.00243521 1.36225199] [ 0.03955354 0.99913285 0.01300227 0.13290941] [-0.00294784 -0.01289571 0.9999125 -0.09250494] [ 0. 0. 0. 1. ]] SLAMing on 2.8236178649999992 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:1.39, Y:0.13, Z:-0.09 [[ 9.99344245e-01 -3.61615670e-02 1.84974990e-03 1.38879900e+00] [ 3.61617600e-02 9.99345947e-01 -7.10097751e-05 1.32135622e-01] [-1.84597224e-03 1.37853422e-04 9.99998287e-01 -9.31172359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8536178649999995 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:1.42, Y:0.13, Z:-0.09 [[ 9.99414047e-01 -3.41414607e-02 2.43387874e-03 1.41713233e+00] [ 3.41417934e-02 9.99416994e-01 -9.52670517e-05 1.28779546e-01] [-2.42920722e-03 1.78308215e-04 9.99997034e-01 -9.36934232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8836178649999993 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:1.45, Y:0.13, Z:-0.09 [[ 9.99464736e-01 -3.25717516e-02 3.05329759e-03 1.44507659e+00] [ 3.25722611e-02 9.99469376e-01 -1.17276429e-04 1.25617897e-01] [-3.04785754e-03 2.16666461e-04 9.99995332e-01 -9.40957579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9136178649999995 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:1.47, Y:0.12, Z:-0.09 [[ 9.99599001e-01 -2.81616525e-02 2.95942282e-03 1.47231203e+00] [ 2.81621019e-02 9.99603363e-01 -1.10284564e-04 1.16931813e-01] [-2.95514321e-03 1.93583907e-04 9.99995615e-01 -9.32842309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9436178649999993 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:1.50, Y:0.11, Z:-0.09 [[ 9.99632150e-01 -2.69193829e-02 3.30314049e-03 1.49995496e+00] [ 2.69199429e-02 9.99637585e-01 -1.25207277e-04 1.11344573e-01] [-3.29857288e-03 2.14081573e-04 9.99994537e-01 -9.35551515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9736178649999996 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:1.53, Y:0.11, Z:-0.09 [[ 9.99682169e-01 -2.51016445e-02 2.33840686e-03 1.52732506e+00] [ 2.51019228e-02 9.99684893e-01 -8.97200988e-05 1.06018922e-01] [-2.33541789e-03 1.48390091e-04 9.99997262e-01 -9.35748643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0036178649999994 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:1.56, Y:0.11, Z:-0.09 [[ 9.99676526e-01 -2.53253838e-02 2.33843879e-03 1.55583387e+00] [ 2.53256606e-02 9.99679250e-01 -8.88467015e-05 1.05094257e-01] [-2.33543866e-03 1.48040469e-04 9.99997262e-01 -9.42510374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.033617864999999 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:1.58, Y:0.11, Z:-0.11 [[ 0.99968088 -0.02464297 0.00555554 1.58407448] [ 0.02474318 0.99951789 -0.01875515 0.10759783] [-0.00509068 0.01888663 0.99980867 -0.10920752] [ 0. 0. 0. 1. ]] SLAMing on 3.0636178649999994 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:1.61, Y:0.08, Z:-0.09 [[ 0.99970856 -0.02396511 0.00291116 1.61165 ] [ 0.02390781 0.99954596 0.01833832 0.08376624] [-0.00334932 -0.01826338 0.9998276 -0.0918824 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0936178649999992 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:1.64, Y:0.09, Z:-0.10 [[ 9.99734759e-01 -2.29484091e-02 1.94461737e-03 1.63937320e+00] [ 2.29485962e-02 9.99736644e-01 -7.39474500e-05 8.85939337e-02] [-1.94240827e-03 1.18554075e-04 9.99998106e-01 -9.70910582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1236178649999995 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:1.67, Y:0.08, Z:-0.10 [[ 9.99745273e-01 -2.25509793e-02 9.17410100e-04 1.66686279e+00] [ 2.25510232e-02 9.99745693e-01 -3.75921729e-05 8.34542051e-02] [-9.16329055e-04 5.82711337e-05 9.99999578e-01 -9.76814038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1536178649999993 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:1.70, Y:0.07, Z:-0.10 [[ 9.99718164e-01 -2.37371800e-02 3.72884940e-04 1.69503547e+00] [ 2.37371885e-02 9.99718233e-01 -1.84666996e-05 7.41996754e-02] [-3.72341526e-04 2.73127351e-05 9.99999930e-01 -9.82184028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1836178649999995 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:1.72, Y:0.07, Z:-0.10 [[ 9.99695263e-01 -2.46831301e-02 3.51091879e-04 1.72303710e+00] [ 2.46831378e-02 9.99695325e-01 -1.75975449e-05 6.85415192e-02] [-3.50550547e-04 2.62582315e-05 9.99999938e-01 -9.83578886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2136178649999994 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:1.75, Y:0.06, Z:-0.10 [[ 9.99670519e-01 -2.56560946e-02 7.86548799e-04 1.75046096e+00] [ 2.56561280e-02 9.99670827e-01 -3.23835333e-05 6.31777650e-02] [-7.85459053e-04 5.25526602e-05 9.99999690e-01 -9.84797369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243617864999999 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:1.78, Y:0.05, Z:-0.10 [[ 9.99618630e-01 -2.75333285e-02 2.12383878e-03 1.77807187e+00] [ 2.75335553e-02 9.99620877e-01 -7.76367496e-05 5.37167193e-02] [-2.12089598e-03 1.36083974e-04 9.99997742e-01 -9.84137693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2736178649999994 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:1.81, Y:0.05, Z:-0.10 [[ 9.99591577e-01 -2.84638689e-02 2.54689912e-03 1.80620368e+00] [ 2.84641939e-02 9.99594809e-01 -9.14277630e-05 4.87090845e-02] [-2.54326475e-03 1.63885852e-04 9.99996752e-01 -9.88876959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.303617864999999 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:1.83, Y:0.04, Z:-0.10 [[ 9.99555337e-01 -2.97177712e-02 2.44568136e-03 1.83386671e+00] [ 2.97180736e-02 9.99558317e-01 -8.74212668e-05 4.38529727e-02] [-2.44200317e-03 1.60063332e-04 9.99997005e-01 -9.94171137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3336178649999995 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:1.86, Y:0.04, Z:-0.10 [[ 9.99509346e-01 -3.13122363e-02 7.82335169e-04 1.86106002e+00] [ 3.13122681e-02 9.99509650e-01 -2.85024220e-05 3.52781197e-02] [-7.81059076e-04 5.29851257e-05 9.99999694e-01 -1.00961342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3636178649999993 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:1.89, Y:0.03, Z:-0.10 [[ 9.99476589e-01 -3.23501871e-02 -1.19180484e-04 1.88871970e+00] [ 3.23501871e-02 9.99476596e-01 -1.37611905e-06 3.06142443e-02] [ 1.19162623e-04 -2.48011219e-06 9.99999993e-01 -1.02178845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3936178649999995 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:1.92, Y:0.03, Z:-0.10 [[ 9.99447329e-01 -3.32309936e-02 -8.59297036e-04 1.91628927e+00] [ 3.32310256e-02 9.99447697e-01 2.30456760e-05 2.58723076e-02] [ 8.58056613e-04 -5.15882611e-05 9.99999631e-01 -1.03077267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4236178649999993 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:1.94, Y:0.02, Z:-0.10 [[ 9.99441248e-01 -3.34112083e-02 -9.39928846e-04 1.94346071e+00] [ 3.34112500e-02 9.99441688e-01 2.86174870e-05 1.64416683e-02] [ 9.38447928e-04 -6.00056945e-05 9.99999558e-01 -1.03509718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.453617864999999 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:1.97, Y:0.01, Z:-0.10 [[ 9.99440579e-01 -3.34439444e-02 -1.75303782e-04 1.97128158e+00] [ 3.34439450e-02 9.99440595e-01 4.70150020e-07 1.16549382e-02] [ 1.75189993e-04 -6.33273706e-06 9.99999985e-01 -1.03860507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4836178649999994 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:2.00, Y:0.01, Z:-0.10 [[ 9.99436386e-01 -3.35622503e-02 6.97195135e-04 1.99889460e+00] [ 3.35622778e-02 9.99436628e-01 -2.78539683e-05 6.78581663e-03] [-6.95867512e-04 5.12377262e-05 9.99999757e-01 -1.04305118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.513617864999999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.00, Z:-0.10 [[ 9.99392529e-01 -3.47898482e-02 2.05884252e-03 2.02698916e+00] [ 3.47900704e-02 9.99394640e-01 -7.21805961e-05 -2.32996537e-03] [-2.05508503e-03 1.43764025e-04 9.99997878e-01 -1.04173986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5436178649999994 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.01, Z:-0.10 [[ 9.99344922e-01 -3.61120034e-02 2.37687507e-03 2.05404780e+00] [ 3.61122926e-02 9.99347735e-01 -7.88483871e-05 -7.15379429e-03] [-2.37247735e-03 1.64631144e-04 9.99997172e-01 -1.04877036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5736178649999992 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.01, Z:-0.11 [[ 9.99303086e-01 -3.72249211e-02 2.76548869e-03 2.08183314e+00] [ 3.72253228e-02 9.99306893e-01 -9.38981113e-05 -1.23509626e-02] [-2.76007656e-03 1.96778881e-04 9.99996172e-01 -1.05103143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6036178649999995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.02, Z:-0.11 [[ 9.99183688e-01 -4.01206109e-02 4.72163545e-03 2.10815431e+00] [ 4.01217769e-02 9.99194786e-01 -1.52435861e-04 -2.15632794e-02] [-4.71171770e-03 3.41751829e-04 9.99988841e-01 -1.05021505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6336178649999993 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.03, Z:-0.11 [[ 9.99098054e-01 -4.20072868e-02 6.20216940e-03 2.13478876e+00] [ 4.20093257e-02 9.99117199e-01 -1.98768403e-04 -2.60570827e-02] [-6.18834440e-03 4.59138079e-04 9.99980747e-01 -1.05129720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.663617864999999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.03, Z:-0.11 [[ 9.99011219e-01 -4.38026734e-02 7.60991551e-03 2.16258937e+00] [ 4.38058008e-02 9.99040035e-01 -2.44692159e-04 -3.03712779e-02] [-7.59189209e-03 5.77808655e-04 9.99971014e-01 -1.05520389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6936178649999993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.04, Z:-0.11 [[ 9.98882371e-01 -4.63708885e-02 9.15148326e-03 2.18934202e+00] [ 4.63754699e-02 9.98924037e-01 -2.88935007e-04 -3.79439640e-02] [-9.12823843e-03 7.13016421e-04 9.99958083e-01 -1.05413140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723617864999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.04, Z:-0.11 [[ 9.98810024e-01 -4.78089299e-02 9.63548182e-03 2.21772826e+00] [ 4.78140822e-02 9.98856206e-01 -3.04939494e-04 -4.18450371e-02] [-9.60988198e-03 7.65288343e-04 9.99953531e-01 -1.06256858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7536178649999994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.05, Z:-0.11 [[ 9.98590599e-01 -5.21257762e-02 9.98598036e-03 2.24412468e+00] [ 5.21314889e-02 9.98640181e-01 -3.12446265e-04 -4.75360541e-02] [-9.95611473e-03 8.32589926e-04 9.99950090e-01 -1.07565852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783617864999999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.05, Z:-0.11 [[ 9.98489736e-01 -5.40321241e-02 9.93864570e-03 2.27203567e+00] [ 5.40378707e-02 9.98538839e-01 -3.10375813e-04 -5.07385916e-02] [-9.90735347e-03 8.46970314e-04 9.99950562e-01 -1.08113415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8136178649999994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.05, Z:-0.11 [[ 9.98403754e-01 -5.54661963e-02 1.06510889e-02 2.30031366e+00] [ 5.54728468e-02 9.98460142e-01 -3.29753398e-04 -5.35240848e-02] [-1.06163976e-02 9.20073255e-04 9.99943221e-01 -1.08832792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999992 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.06, Z:-0.11 [[ 9.98253989e-01 -5.77783211e-02 1.22734702e-02 2.32726895e+00] [ 5.77872626e-02 9.98328850e-01 -3.74845830e-04 -5.77451329e-02] [-1.22313014e-02 1.08344159e-03 9.99924608e-01 -1.09679457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.873617864999999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.06, Z:-0.11 [[ 9.98215945e-01 -5.84734906e-02 1.20738822e-02 2.35440660e+00] [ 5.84821800e-02 9.98288385e-01 -3.67574279e-04 -6.04823050e-02] [-1.20317230e-02 1.07302546e-03 9.99927040e-01 -1.10113323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9036178649999993 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.06, Z:-0.11 [[ 9.98182062e-01 -5.88651165e-02 1.29409930e-02 2.38191994e+00] [ 5.88751306e-02 9.98265277e-01 -3.93893631e-04 -6.27530091e-02] [-1.28953574e-02 1.15508021e-03 9.99916184e-01 -1.11338497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.933617864999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.06, Z:-0.11 [[ 9.98207599e-01 -5.85800357e-02 1.22461642e-02 2.40866758e+00] [ 5.85889338e-02 9.98282125e-01 -3.68808658e-04 -6.46181667e-02] [-1.22035220e-02 1.08563731e-03 9.99924945e-01 -1.12349576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9636178649999994 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.07, Z:-0.11 [[ 9.98278376e-01 -5.72282091e-02 1.28536606e-02 2.43528637e+00] [ 5.72378832e-02 9.98360494e-01 -3.85729553e-04 -6.61668771e-02] [-1.28105124e-02 1.12078180e-03 9.99917314e-01 -1.13955020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.993617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.07, Z:-0.12 [[ 9.98537754e-01 -5.27243899e-02 1.19370245e-02 2.46197653e+00] [ 5.27324018e-02 9.98608615e-01 -3.57220454e-04 -6.76358308e-02] [-1.19015813e-02 9.86166084e-04 9.99928687e-01 -1.15958238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.07, Z:-0.12 [[ 9.98677922e-01 -5.01504653e-02 1.12844163e-02 2.48959351e+00] [ 5.01574682e-02 9.98741265e-01 -3.38251387e-04 -6.88868001e-02] [-1.12532488e-02 9.03801946e-04 9.99936272e-01 -1.17440143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.053617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.07, Z:-0.12 [[ 9.98917373e-01 -4.52122968e-02 1.09512523e-02 2.51632237e+00] [ 4.52185554e-02 9.98977065e-01 -3.24440994e-04 -7.18988658e-02] [-1.09253811e-02 8.19289552e-04 9.99939981e-01 -1.18550895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.07, Z:-0.12 [[ 9.99030327e-01 -4.26216518e-02 1.10362915e-02 2.54352117e+00] [ 4.26278389e-02 9.99090967e-01 -3.25883064e-04 -7.43048641e-02] [-1.10123695e-02 7.96020322e-04 9.99939045e-01 -1.18899807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.113617864999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.08, Z:-0.12 [[ 9.99115439e-01 -4.01224173e-02 1.25908825e-02 2.57129846e+00] [ 4.01302715e-02 9.99194387e-01 -3.71671378e-04 -7.67673863e-02] [-1.25658268e-02 8.76618146e-04 9.99920663e-01 -1.19208033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.08, Z:-0.12 [[ 9.99219236e-01 -3.59883827e-02 1.63019678e-02 2.59918751e+00] [ 3.60009211e-02 9.99351643e-01 -4.76228235e-04 -8.08521770e-02] [-1.62742596e-02 1.06274227e-03 9.99867001e-01 -1.19561668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.173617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.08, Z:-0.12 [[ 9.99224495e-01 -3.45340444e-02 1.89158046e-02 2.62687271e+00] [ 3.45505726e-02 9.99402801e-01 -5.47570366e-04 -8.35586404e-02] [-1.88855983e-02 1.20069760e-03 9.99820930e-01 -1.20424223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617864999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.09, Z:-0.12 [[ 9.99231782e-01 -3.34475698e-02 2.04231769e-02 2.65395428e+00] [ 3.34664764e-02 9.99439670e-01 -5.84566550e-04 -8.62613411e-02] [-2.03921809e-02 1.26760924e-03 9.99791254e-01 -1.20829651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.09, Z:-0.12 [[ 9.99282840e-01 -3.04070041e-02 2.25658933e-02 2.68176477e+00] [ 3.04292462e-02 9.99536717e-01 -6.42850497e-04 -9.19302166e-02] [-2.25358917e-02 1.32905259e-03 9.99745151e-01 -1.21194128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.10, Z:-0.12 [[ 9.99292571e-01 -2.88114172e-02 2.41714625e-02 2.71120651e+00] [ 2.88364322e-02 9.99583908e-01 -6.86904427e-04 -9.51344174e-02] [-2.41416142e-02 1.38343723e-03 9.99707592e-01 -1.22106641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.293617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.10, Z:-0.12 [[ 9.99312806e-01 -2.69410317e-02 2.54577311e-02 2.74123946e+00] [ 2.69681593e-02 9.99636032e-01 -7.22804272e-04 -9.82732406e-02] [-2.54289922e-02 1.40885571e-03 9.99675638e-01 -1.23283048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.10, Z:-0.12 [[ 9.99452024e-01 -1.93466865e-02 2.68581001e-02 2.77244535e+00] [ 1.93741495e-02 9.99812013e-01 -7.62650702e-04 -1.00179010e-01] [-2.68382964e-02 1.28258564e-03 9.99638965e-01 -1.24162350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3536178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.10, Z:-0.13 [[ 9.99514728e-01 -1.39954064e-02 2.78286974e-02 2.80429202e+00] [ 1.40228481e-02 9.99901362e-01 -7.91170365e-04 -1.00320989e-01] [-2.78148797e-02 1.18102403e-03 9.99612394e-01 -1.25555373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:-0.13 [[ 9.99541024e-01 -9.37792336e-03 2.88061859e-02 2.83689392e+00] [ 9.40547648e-03 9.99955430e-01 -8.21150157e-04 -1.00915084e-01] [-2.87972013e-02 1.09170917e-03 9.99584678e-01 -1.26763393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.413617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.10, Z:-0.13 [[ 9.99615990e-01 -6.58676117e-03 2.69163139e-02 2.86946225e+00] [ 6.60988474e-03 9.99977858e-01 -7.70207439e-04 -1.00733792e-01] [-2.69106448e-02 9.47825404e-04 9.99637394e-01 -1.27595994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.10, Z:-0.13 [[ 9.99651249e-01 6.21810827e-04 2.64006347e-02 2.90142985e+00] [-6.01939896e-04 9.99999530e-01 -7.60609203e-04 -1.03182527e-01] [-2.64010952e-02 7.44452344e-04 9.99651153e-01 -1.31101361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.473617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.10, Z:-0.13 [[ 9.99670241e-01 3.31977304e-03 2.54634901e-02 2.93474564e+00] [-3.30204276e-03 9.99994276e-01 -7.38318003e-04 -1.03632766e-01] [-2.54657954e-02 6.53993002e-04 9.99675480e-01 -1.31281314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.10, Z:-0.13 [[ 9.99683762e-01 4.49347120e-03 2.47423649e-02 2.96746449e+00] [-4.47692887e-03 9.99989716e-01 -7.23936128e-04 -1.04331304e-01] [-2.47453635e-02 6.12937384e-04 9.99693599e-01 -1.32831035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533617864999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.11, Z:-0.13 [[ 9.99755367e-01 3.43828020e-03 2.18491258e-02 2.99993051e+00] [-3.42501743e-03 9.99993927e-01 -6.44408694e-04 -1.06035350e-01] [-2.18512088e-02 5.69417414e-04 9.99761072e-01 -1.34382743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.11, Z:-0.14 [[ 9.99766015e-01 2.51728816e-03 2.14843639e-02 3.03213742e+00] [-2.50412376e-03 9.99996660e-01 -6.39624290e-04 -1.05193206e-01] [-2.14859023e-02 5.85675121e-04 9.99768980e-01 -1.35841998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.11, Z:-0.14 [[ 9.99789421e-01 -5.70770955e-04 2.05131109e-02 3.06486159e+00] [ 5.83524576e-04 9.99999640e-01 -6.15750025e-04 -1.06622487e-01] [-2.05127521e-02 6.27590265e-04 9.99789394e-01 -1.36654631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.11, Z:-0.14 [[ 9.99758955e-01 -4.52053209e-03 2.14848212e-02 3.09792991e+00] [ 4.53556777e-03 9.99989502e-01 -6.51150675e-04 -1.05151340e-01] [-2.14816521e-02 7.48439580e-04 9.99768963e-01 -1.37095194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.653617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.11, Z:-0.14 [[ 9.99749096e-01 -6.90273133e-03 2.13095616e-02 3.13028940e+00] [ 6.91818953e-03 9.99975857e-01 -6.51775492e-04 -1.05553102e-01] [-2.13045481e-02 7.99035544e-04 9.99772713e-01 -1.38006901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.11, Z:-0.14 [[ 9.99735551e-01 -1.02662835e-02 2.05774493e-02 3.16358357e+00] [ 1.02815136e-02 9.99946943e-01 -6.34471300e-04 -1.06555708e-01] [-2.05698439e-02 8.45870839e-04 9.99788061e-01 -1.38074437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.11, Z:-0.14 [[ 9.99662786e-01 -1.58738756e-02 2.05507621e-02 3.19696851e+00] [ 1.58903629e-02 9.99873536e-01 -6.39213055e-04 -1.05277835e-01] [-2.05380164e-02 9.65556571e-04 9.99788606e-01 -1.38832469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617864999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.11, Z:-0.14 [[ 9.99606431e-01 -2.05642575e-02 1.90812519e-02 3.22956705e+00] [ 2.05794122e-02 9.99788043e-01 -5.98179304e-04 -1.07453288e-01] [-1.90649063e-02 9.90624827e-04 9.99817757e-01 -1.39016039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.11, Z:-0.14 [[ 9.99507119e-01 -2.55561993e-02 1.82318288e-02 3.26119618e+00] [ 2.55709606e-02 9.99672843e-01 -5.76941619e-04 -1.08734527e-01] [-1.82111197e-02 1.04286263e-03 9.99833620e-01 -1.39448197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.11, Z:-0.14 [[ 9.99195567e-01 -3.55007910e-02 1.86524049e-02 3.29059710e+00] [ 3.55180418e-02 9.99368859e-01 -5.94289911e-04 -1.06498253e-01] [-1.86195348e-02 1.25630874e-03 9.99825852e-01 -1.40623706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.11, Z:-0.14 [[ 9.99006524e-01 -4.01709388e-02 1.92940327e-02 3.31820769e+00] [ 4.01902787e-02 9.99191855e-01 -6.15516238e-04 -1.06707143e-01] [-1.92537144e-02 1.39033729e-03 9.99813663e-01 -1.40637689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.11, Z:-0.14 [[ 9.98801855e-01 -4.47106962e-02 1.98949410e-02 3.34664371e+00] [ 4.47320444e-02 9.98998823e-01 -6.29105961e-04 -1.07347882e-01] [-1.98468949e-02 1.51829359e-03 9.99801878e-01 -1.40940432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8936178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.11, Z:-0.14 [[ 9.98790565e-01 -4.49621241e-02 1.98951107e-02 3.37520156e+00] [ 4.49834146e-02 9.98987539e-01 -6.23690837e-04 -1.08183492e-01] [-1.98469252e-02 1.51788653e-03 9.99801878e-01 -1.41616452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.11, Z:-0.14 [[ 9.98454287e-01 -5.18056816e-02 2.01297653e-02 3.40332117e+00] [ 5.18287572e-02 9.98655791e-01 -6.25980859e-04 -1.08932394e-01] [-2.00702773e-02 1.66831399e-03 9.99797180e-01 -1.41338139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.11, Z:-0.14 [[ 9.98320370e-01 -5.43431548e-02 2.00813467e-02 3.43130836e+00] [ 5.43665194e-02 9.98520855e-01 -6.19004777e-04 -1.10352704e-01] [-2.00180048e-02 1.70971801e-03 9.99798158e-01 -1.41755839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.11, Z:-0.14 [[ 9.98245616e-01 -5.57342790e-02 1.99845092e-02 3.45794961e+00] [ 5.57575818e-02 9.98444149e-01 -6.10316582e-04 -1.12439997e-01] [-1.99194007e-02 1.72353376e-03 9.99800103e-01 -1.41833131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.11, Z:-0.14 [[ 9.98190627e-01 -5.67522403e-02 1.98659404e-02 3.48574105e+00] [ 5.67754011e-02 9.98386794e-01 -6.03342747e-04 -1.14048946e-01] [-1.97996515e-02 1.73014781e-03 9.99802471e-01 -1.42113020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.11, Z:-0.14 [[ 9.98266739e-01 -5.53109054e-02 2.01052609e-02 3.51380631e+00] [ 5.53342284e-02 9.98467705e-01 -6.05163797e-04 -1.13997030e-01] [-2.00409815e-02 1.71662399e-03 9.99797686e-01 -1.43063653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.073617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.11, Z:-0.14 [[ 9.98360735e-01 -5.34061736e-02 2.05821167e-02 3.54052340e+00] [ 5.34300894e-02 9.98571404e-01 -6.13424082e-04 -1.13807972e-01] [-2.05199525e-02 1.71212285e-03 9.99787978e-01 -1.44378484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.11, Z:-0.15 [[ 9.98445028e-01 -5.14971432e-02 2.13440703e-02 3.56819977e+00] [ 5.15223831e-02 9.98671639e-01 -6.33944327e-04 -1.14285464e-01] [-2.12830713e-02 1.73265593e-03 9.99771988e-01 -1.45180971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.13, Z:-0.12 [[ 0.99872256 -0.04777787 0.01644757 3.59686866] [ 0.04725965 0.99841467 0.03057226 -0.13416006] [-0.01788217 -0.0297559 0.99939723 -0.12332225] [ 0. 0. 0. 1. ]] SLAMing on 5.163617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.12, Z:-0.14 [[ 0.99875505 -0.04623079 0.0187367 3.62504329] [ 0.04640137 0.99888434 -0.0087741 -0.11562397] [-0.01831016 0.00963259 0.99978595 -0.14160131] [ 0. 0. 0. 1. ]] SLAMing on 5.193617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.11, Z:-0.15 [[ 0.99873485 -0.04434024 0.02372014 3.65425692] [ 0.04489606 0.9987167 -0.02343691 -0.11066607] [-0.0226505 0.0244722 0.99944388 -0.15318236] [ 0. 0. 0. 1. ]] SLAMing on 5.223617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.12, Z:-0.15 [[ 0.99881511 -0.04319551 0.02241716 3.68269682] [ 0.0434341 0.99900353 -0.01026748 -0.11999436] [-0.02195132 0.01122898 0.99969598 -0.14896158] [ 0. 0. 0. 1. ]] SLAMing on 5.253617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.13, Z:-0.14 [[ 0.99886254 -0.03862346 0.02796172 3.71145555] [ 0.03839158 0.99922417 0.0087831 -0.12904165] [-0.02827926 -0.00769961 0.99957041 -0.14174102] [ 0. 0. 0. 1. ]] SLAMing on 5.283617864999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.12, Z:-0.15 [[ 9.98977285e-01 -3.56329017e-02 2.78330929e-02 3.74067685e+00] [ 3.56687131e-02 9.99363356e-01 -7.91069910e-04 -1.24593270e-01] [-2.77871850e-02 1.78303147e-03 9.99612271e-01 -1.46409297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.313617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.13, Z:-0.15 [[ 9.99063567e-01 -3.33101239e-02 2.76120456e-02 3.77216261e+00] [ 3.33444654e-02 9.99443611e-01 -7.84079484e-04 -1.26597627e-01] [-2.75705648e-02 1.70405415e-03 9.99618407e-01 -1.47764424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.13, Z:-0.15 [[ 9.99174142e-01 -2.96327589e-02 2.78016965e-02 3.80229609e+00] [ 2.96661805e-02 9.99559550e-01 -7.90356902e-04 -1.29258542e-01] [-2.77660307e-02 1.61447432e-03 9.99613146e-01 -1.48843788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.373617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.13, Z:-0.15 [[ 9.99238622e-01 -2.71601331e-02 2.80089988e-02 3.83367228e+00] [ 2.71931037e-02 9.99629882e-01 -7.96843700e-04 -1.29581112e-01] [-2.79769898e-02 1.55788861e-03 9.99607353e-01 -1.49773244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.13, Z:-0.15 [[ 9.99309908e-01 -2.53996893e-02 2.71028415e-02 3.86570429e+00] [ 2.54299516e-02 9.99676308e-01 -7.72426938e-04 -1.31261855e-01] [-2.70744491e-02 1.46111784e-03 9.99632352e-01 -1.50800729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.433617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.14 [[ 0.99945613 -0.02358164 0.02305103 3.89536688] [ 0.02319154 0.99958569 0.01704684 -0.13763821] [-0.02344348 -0.01650298 0.99958894 -0.14051463] [ 0. 0. 0. 1. ]] SLAMing on 5.463617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.12, Z:-0.15 [[ 0.99943753 -0.02241816 0.02494105 3.92586357] [ 0.02259479 0.99972142 -0.00682272 -0.12365026] [-0.02478115 0.00738242 0.99966564 -0.15401022] [ 0. 0. 0. 1. ]] SLAMing on 5.493617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.13, Z:-0.15 [[ 0.99955627 -0.02076047 0.02136041 3.95851615] [ 0.02062225 0.99976508 0.0066709 -0.13413436] [-0.02149389 -0.00622744 0.99974958 -0.1468854 ] [ 0. 0. 0. 1. ]] SLAMing on 5.523617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.12, Z:-0.16 [[ 0.9995999 -0.0158743 0.02341061 3.99113476] [ 0.0163299 0.99967843 -0.01940036 -0.12340414] [-0.02309511 0.01977489 0.99953768 -0.16221189] [ 0. 0. 0. 1. ]] SLAMing on 5.553617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.13, Z:-0.16 [[ 9.99610074e-01 -1.51721624e-02 2.34415450e-02 4.02345040e+00] [ 1.51922983e-02 9.99884358e-01 -6.81120987e-04 -1.33013810e-01] [-2.34285001e-02 1.03698634e-03 9.99724977e-01 -1.56792329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.14, Z:-0.15 [[ 0.99964508 -0.01753161 0.02005898 4.05282162] [ 0.01725694 0.99975605 0.01378545 -0.13907679] [-0.02029576 -0.0134344 0.99970376 -0.14963063] [ 0. 0. 0. 1. ]] SLAMing on 5.613617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.13, Z:-0.16 [[ 0.99969563 -0.01461526 0.01987555 4.08661019] [ 0.01491404 0.99977674 -0.01496814 -0.12665678] [-0.01965235 0.01526001 0.99969041 -0.16486694] [ 0. 0. 0. 1. ]] SLAMing on 5.643617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.14, Z:-0.15 [[ 0.99971074 -0.01723544 0.01677428 4.11597828] [ 0.01685697 0.99960588 0.02244821 -0.14364898] [-0.01715458 -0.02215895 0.99960727 -0.14672379] [ 0. 0. 0. 1. ]] SLAMing on 5.673617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.13, Z:-0.16 [[ 0.99967801 -0.01824434 0.01763576 4.14677088] [ 0.01836839 0.9998075 -0.00689747 -0.12876807] [-0.01750652 0.00721919 0.99982069 -0.16171368] [ 0. 0. 0. 1. ]] SLAMing on 5.703617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.13, Z:-0.17 [[ 0.9996899 -0.01477979 0.02004143 4.17943702] [ 0.01512687 0.99973628 -0.01727841 -0.12781952] [-0.01978077 0.01757622 0.99964984 -0.16841733] [ 0. 0. 0. 1. ]] SLAMing on 5.733617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.14, Z:-0.16 [[ 9.99679160e-01 -1.58635479e-02 1.97465354e-02 4.21074244e+00] [ 1.58783514e-02 9.99873755e-01 -5.93106039e-04 -1.38920022e-01] [-1.97346338e-02 9.06458175e-04 9.99804842e-01 -1.62592966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.14, Z:-0.16 [[ 0.99963962 -0.01917062 0.01879147 4.23835583] [ 0.01898018 0.99976721 0.01026067 -0.14091417] [-0.0189838 -0.0099003 0.99977077 -0.15811525] [ 0. 0. 0. 1. ]] SLAMing on 5.793617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.13, Z:-0.16 [[ 9.99649310e-01 -1.81749419e-02 1.92595012e-02 4.26978092e+00] [ 1.82124175e-02 9.99832570e-01 -1.77220506e-03 -1.34934973e-01] [-1.92240669e-02 2.12234564e-03 9.99812948e-01 -1.63654817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.14, Z:-0.16 [[ 9.99671657e-01 -1.79308834e-02 1.83046881e-02 4.30230322e+00] [ 1.78588311e-02 9.99832144e-01 4.09218891e-03 -1.40825139e-01] [-1.83749921e-02 -3.76394494e-03 9.99824081e-01 -1.59909769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.14, Z:-0.17 [[ 0.99969484 -0.01460475 0.01992307 4.33510335] [ 0.01489185 0.99978629 -0.01433909 -0.13608672] [-0.01970939 0.01463141 0.99969869 -0.16969094] [ 0. 0. 0. 1. ]] SLAMing on 5.883617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.15, Z:-0.17 [[ 9.99674326e-01 -1.54135954e-02 2.03387308e-02 4.36734783e+00] [ 1.54295306e-02 9.99880761e-01 -6.26787464e-04 -1.45126444e-01] [-2.03266446e-02 9.40400403e-04 9.99792950e-01 -1.65015015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.913617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.15, Z:-0.16 [[ 0.99958185 -0.01850762 0.02221712 4.39489992] [ 0.01826616 0.9997724 0.01102223 -0.14914754] [-0.02241606 -0.0106118 0.99969241 -0.15948935] [ 0. 0. 0. 1. ]] SLAMing on 5.943617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.14, Z:-0.17 [[ 0.99963664 -0.01434444 0.02282144 4.42947494] [ 0.0146275 0.99981754 -0.01228507 -0.14372989] [-0.02264106 0.01261443 0.99966407 -0.16957526] [ 0. 0. 0. 1. ]] SLAMing on 5.973617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.15, Z:-0.17 [[ 9.99618492e-01 -1.50773541e-02 2.31418169e-02 4.46190287e+00] [ 1.50981476e-02 9.99885754e-01 -7.24053611e-04 -1.50889712e-01] [-2.31282562e-02 1.07317595e-03 9.99731930e-01 -1.66152252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.15, Z:-0.17 [[ 9.99628708e-01 -1.43421000e-02 2.31678544e-02 4.49499846e+00] [ 1.43627771e-02 9.99896586e-01 -7.26328308e-04 -1.50800101e-01] [-2.31550415e-02 1.05881336e-03 9.99731325e-01 -1.67327257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.033617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.15, Z:-0.17 [[ 9.99610992e-01 -1.45161889e-02 2.38148013e-02 4.52680952e+00] [ 1.45381474e-02 9.99894035e-01 -7.49166060e-04 -1.52525876e-01] [-2.38014028e-02 1.09509772e-03 9.99716107e-01 -1.68239596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0636178649999986 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.15, Z:-0.17 [[ 9.99612538e-01 -1.34485689e-02 2.43702794e-02 4.55890692e+00] [ 1.34712946e-02 9.99908963e-01 -7.68573621e-04 -1.53637319e-01] [-2.43577246e-02 1.09657504e-03 9.99702705e-01 -1.68593702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.093617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.16, Z:-0.17 [[ 9.99615886e-01 -1.33176010e-02 2.43047925e-02 4.59139842e+00] [ 1.33402655e-02 9.99910718e-01 -7.70602253e-04 -1.55017378e-01] [-2.42923599e-02 1.09453864e-03 9.99704298e-01 -1.69276956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.16, Z:-0.17 [[ 9.99629126e-01 -1.35869196e-02 2.36009912e-02 4.62391335e+00] [ 1.36084164e-02 9.99907120e-01 -7.50466598e-04 -1.56424415e-01] [-2.35886026e-02 1.07136038e-03 9.99721176e-01 -1.70266256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.153617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.16, Z:-0.17 [[ 9.99649908e-01 -1.40184951e-02 2.24397607e-02 4.65656662e+00] [ 1.40380832e-02 9.99901205e-01 -7.15625604e-04 -1.56965450e-01] [-2.24275118e-02 1.03038630e-03 9.99747941e-01 -1.71416593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.16, Z:-0.17 [[ 9.99648758e-01 -1.38119025e-02 2.26184037e-02 4.68968822e+00] [ 1.38318018e-02 9.99904074e-01 -7.23566693e-04 -1.56345665e-01] [-2.26062402e-02 1.03616582e-03 9.99743909e-01 -1.73222563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.213617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.16, Z:-0.17 [[ 9.99657344e-01 -1.46516611e-02 2.16915342e-02 4.72192030e+00] [ 1.46702053e-02 9.99892145e-01 -6.96017323e-04 -1.57346484e-01] [-2.16789968e-02 1.01399809e-03 9.99764469e-01 -1.74598466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.16, Z:-0.17 [[ 9.99638918e-01 -1.69389366e-02 2.08592166e-02 4.75377358e+00] [ 1.69566062e-02 9.99856002e-01 -6.70494747e-04 -1.59089752e-01] [-2.08448555e-02 1.02395416e-03 9.99782198e-01 -1.74915939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2736178649999985 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.16, Z:-0.18 [[ 9.99602023e-01 -1.78772582e-02 2.18219725e-02 4.78632014e+00] [ 1.78969072e-02 9.99839589e-01 -7.05444322e-04 -1.59409239e-01] [-2.18058606e-02 1.09570939e-03 9.99761624e-01 -1.75641644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.16, Z:-0.18 [[ 9.99548410e-01 -2.01490077e-02 2.22933651e-02 4.81838043e+00] [ 2.01701109e-02 9.99796302e-01 -7.22137415e-04 -1.61081056e-01] [-2.22742736e-02 1.17147095e-03 9.99751211e-01 -1.75833195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.333617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.16, Z:-0.18 [[ 9.99410101e-01 -2.54278558e-02 2.30840538e-02 4.84992751e+00] [ 2.54519137e-02 9.99675767e-01 -7.48930256e-04 -1.63757553e-01] [-2.30575255e-02 1.33602181e-03 9.99733247e-01 -1.75699542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.16, Z:-0.18 [[ 9.99362803e-01 -2.68387021e-02 2.35302492e-02 4.88120820e+00] [ 2.68641866e-02 9.99638798e-01 -7.67563397e-04 -1.62778942e-01] [-2.35011496e-02 1.39919531e-03 9.99722831e-01 -1.76751111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.16, Z:-0.18 [[ 9.99316214e-01 -2.84522294e-02 2.36130309e-02 4.91210621e+00] [ 2.84783597e-02 9.99594112e-01 -7.70997383e-04 -1.62691312e-01] [-2.35815101e-02 1.44293057e-03 9.99720876e-01 -1.77917997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.16, Z:-0.18 [[ 9.99243794e-01 -3.05146231e-02 2.40976558e-02 4.94365241e+00] [ 3.05424526e-02 9.99533160e-01 -7.87569558e-04 -1.64907518e-01] [-2.40623737e-02 1.52297550e-03 9.99709299e-01 -1.77525633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.17, Z:-0.18 [[ 9.99214055e-01 -3.12025617e-02 2.44473462e-02 4.97357720e+00] [ 3.12314321e-02 9.99511860e-01 -7.99899011e-04 -1.66029732e-01] [-2.44104535e-02 1.56279597e-03 9.99700799e-01 -1.77667243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4836178649999985 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.17, Z:-0.18 [[ 9.99162711e-01 -3.20410922e-02 2.54410170e-02 5.00457551e+00] [ 3.20726408e-02 9.99485193e-01 -8.32889126e-04 -1.65457014e-01] [-2.54012331e-02 1.64815236e-03 9.99675978e-01 -1.78794298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.513617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.17, Z:-0.18 [[ 9.99158609e-01 -3.20820786e-02 2.55502181e-02 5.03570941e+00] [ 3.21139111e-02 9.99483865e-01 -8.36426461e-04 -1.65987740e-01] [-2.55101964e-02 1.65624013e-03 9.99673190e-01 -1.79981185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.17, Z:-0.18 [[ 9.99156758e-01 -3.16349915e-02 2.61725058e-02 5.06717187e+00] [ 3.16682650e-02 9.99498067e-01 -8.57699035e-04 -1.66712035e-01] [-2.61322356e-02 1.68581363e-03 9.99657073e-01 -1.80852837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.573617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.17, Z:-0.18 [[ 9.99184131e-01 -3.08852950e-02 2.60225094e-02 5.09862267e+00] [ 3.09179576e-02 9.99521561e-01 -8.53656364e-04 -1.67140994e-01] [-2.59836938e-02 1.65752273e-03 9.99660993e-01 -1.81916787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.603617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.17, Z:-0.18 [[ 9.99247289e-01 -2.90610635e-02 2.56965096e-02 5.12851144e+00] [ 2.90923341e-02 9.99576372e-01 -8.43831341e-04 -1.67752044e-01] [-2.56611012e-02 1.59076762e-03 9.99669434e-01 -1.83202588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.633617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.17, Z:-0.18 [[ 9.99276162e-01 -2.81379781e-02 2.56009059e-02 5.15840620e+00] [ 2.81687244e-02 9.99602829e-01 -8.41077022e-04 -1.69634186e-01] [-2.55670718e-02 1.56161308e-03 9.99671889e-01 -1.83875660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.17, Z:-0.18 [[ 9.99293481e-01 -2.75305544e-02 2.55852808e-02 5.18967334e+00] [ 2.75611009e-02 9.99619766e-01 -8.41971780e-04 -1.71713437e-01] [-2.55523724e-02 1.54653542e-03 9.99672289e-01 -1.84227479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6936178649999984 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.17, Z:-0.19 [[ 9.99328602e-01 -2.63920822e-02 2.54126668e-02 5.22159406e+00] [ 2.64218719e-02 9.99650531e-01 -8.37111928e-04 -1.72188602e-01] [-2.53816927e-02 1.50800012e-03 9.99676696e-01 -1.85953204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.17, Z:-0.19 [[ 9.99353017e-01 -2.57138896e-02 2.51464328e-02 5.25292751e+00] [ 2.57428885e-02 9.99668252e-01 -8.30105514e-04 -1.72842479e-01] [-2.51167453e-02 1.47691027e-03 9.99683434e-01 -1.87692139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.753617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.17, Z:-0.19 [[ 9.99351968e-01 -2.53971692e-02 2.55074181e-02 5.28505933e+00] [ 2.54269379e-02 9.99676327e-01 -8.43349082e-04 -1.74253173e-01] [-2.54777434e-02 1.49137810e-03 9.99674277e-01 -1.89211389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.18, Z:-0.19 [[ 9.99362483e-01 -2.41259079e-02 2.63167075e-02 5.31574732e+00] [ 2.41572067e-02 9.99707792e-01 -8.71989498e-04 -1.77468535e-01] [-2.62879800e-02 1.50717173e-03 9.99653275e-01 -1.89843121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8136178649999986 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.18, Z:-0.19 [[ 9.99364735e-01 -2.40324661e-02 2.63166631e-02 5.34835252e+00] [ 2.40637677e-02 9.99710044e-01 -8.73327918e-04 -1.78602207e-01] [-2.62880442e-02 1.50605119e-03 9.99653275e-01 -1.90714596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.18, Z:-0.19 [[ 9.99393225e-01 -2.27705517e-02 2.63568363e-02 5.38022083e+00] [ 2.28015769e-02 9.99739625e-01 -8.77140026e-04 -1.80578883e-01] [-2.63300007e-02 1.47758523e-03 9.99652213e-01 -1.91733763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.873617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.18, Z:-0.19 [[ 9.99437255e-01 -2.14304738e-02 2.58051899e-02 5.41240366e+00] [ 2.14598123e-02 9.99769341e-01 -8.60497100e-04 -1.82225926e-01] [-2.57807969e-02 1.41378739e-03 9.99666620e-01 -1.92328535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.18, Z:-0.19 [[ 9.99490182e-01 -1.86653476e-02 2.59033082e-02 5.44354547e+00] [ 1.86940306e-02 9.99824877e-01 -8.65574383e-04 -1.83893484e-01] [-2.58826157e-02 1.34937033e-03 9.99664078e-01 -1.93738444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.19, Z:-0.20 [[ 9.99525457e-01 -1.67244357e-02 2.58680223e-02 5.47597575e+00] [ 1.67524264e-02 9.99859293e-01 -8.65710280e-04 -1.85183332e-01] [-2.58499040e-02 1.29865160e-03 9.99664992e-01 -1.95053470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617864999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.19, Z:-0.20 [[ 9.99572342e-01 -1.34237005e-02 2.59795555e-02 5.50916434e+00] [ 1.34508665e-02 9.99909153e-01 -8.71188736e-04 -1.87423240e-01] [-2.59655007e-02 1.22026370e-03 9.99662095e-01 -1.95992720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.993617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.19, Z:-0.20 [[ 9.99580877e-01 -1.25433700e-02 2.60909023e-02 5.54210553e+00] [ 1.25705400e-02 9.99920603e-01 -8.77598605e-04 -1.89481196e-01] [-2.60778227e-02 1.20520751e-03 9.99659189e-01 -1.96730947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0236178649999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.19, Z:-0.20 [[ 9.99600147e-01 -1.06995172e-02 2.61737919e-02 5.57536845e+00] [ 1.07263000e-02 9.99942082e-01 -8.83077519e-04 -1.91159873e-01] [-2.61628275e-02 1.16347236e-03 9.99657018e-01 -1.97092535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.19, Z:-0.20 [[ 9.99627721e-01 -8.43828489e-03 2.59463909e-02 5.60858110e+00] [ 8.46391266e-03 9.99963795e-01 -8.78054160e-04 -1.92563684e-01] [-2.59380422e-02 1.09733526e-03 9.99662950e-01 -1.98222483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617864999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.19, Z:-0.20 [[ 9.99675355e-01 -5.37328212e-03 2.49060723e-02 5.64115841e+00] [ 5.39600708e-03 9.99985084e-01 -8.45308880e-04 -1.94638716e-01] [-2.49011588e-02 9.79427798e-04 9.99689438e-01 -1.99150711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.113617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.20, Z:-0.20 [[ 9.99674356e-01 -2.67996049e-03 2.53771519e-02 5.67457838e+00] [ 2.70275647e-03 9.99995974e-01 -8.64030590e-04 -1.95089427e-01] [-2.53747342e-02 9.32337485e-04 9.99677575e-01 -1.99989087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.20, Z:-0.20 [[ 9.99680968e-01 -1.15417373e-03 2.52315218e-02 5.70635328e+00] [ 1.17628451e-03 9.99998937e-01 -8.61491209e-04 -1.96119681e-01] [-2.52305007e-02 8.90895814e-04 9.99681263e-01 -2.01385263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.173617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.20, Z:-0.20 [[ 9.99693450e-01 -5.37356295e-04 2.47531461e-02 5.73949148e+00] [ 5.58603236e-04 9.99999482e-01 -8.51446494e-04 -1.98434262e-01] [-2.47526757e-02 8.65012670e-04 9.99693231e-01 -2.02488582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.20, Z:-0.20 [[ 9.99695796e-01 9.97089173e-04 2.46438819e-02 5.77279883e+00] [-9.76327286e-04 9.99999158e-01 -8.54494057e-04 -1.99778176e-01] [-2.46447132e-02 8.30173623e-04 9.99695928e-01 -2.02934830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2336178649999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.20, Z:-0.20 [[ 9.99691264e-01 2.89604613e-03 2.46777085e-02 5.80497465e+00] [-2.87563521e-03 9.99995493e-01 -8.62547046e-04 -1.99698672e-01] [-2.46800953e-02 7.91316659e-04 9.99695087e-01 -2.04203591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.20, Z:-0.21 [[ 9.99721075e-01 2.78215112e-03 2.34527518e-02 5.83705831e+00] [-2.76355139e-03 9.99995841e-01 -8.25446373e-04 -2.02042323e-01] [-2.34549507e-02 7.60403251e-04 9.99724606e-01 -2.05621532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.20, Z:-0.21 [[ 9.99740218e-01 1.68173788e-03 2.27303382e-02 5.86845844e+00] [-1.66385497e-03 9.99998291e-01 -8.05631442e-04 -2.03399993e-01] [-2.27316543e-02 7.67602167e-04 9.99741308e-01 -2.06927068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.20, Z:-0.21 [[ 9.99741428e-01 1.46553684e-03 2.26920565e-02 5.90169517e+00] [-1.44753006e-03 9.99998624e-01 -8.09933618e-04 -2.04553427e-01] [-2.26932123e-02 7.76876758e-04 9.99742174e-01 -2.07779902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.353617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.20, Z:-0.21 [[ 9.99705712e-01 3.15392845e-03 2.40528985e-02 5.93428865e+00] [-3.13401997e-03 9.99994715e-01 -8.65347342e-04 -2.04294380e-01] [-2.40555006e-02 7.89710417e-04 9.99710313e-01 -2.08799051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.21, Z:-0.21 [[ 9.99693991e-01 3.81590603e-03 2.44410196e-02 5.96712105e+00] [-3.79538236e-03 9.99992405e-01 -8.86056132e-04 -2.05053918e-01] [-2.44442151e-02 7.93021977e-04 9.99700881e-01 -2.09564088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.413617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.21, Z:-0.21 [[ 9.99722991e-01 3.26436952e-03 2.33084756e-02 5.99856553e+00] [-3.24541386e-03 9.99994371e-01 -8.51033388e-04 -2.06150978e-01] [-2.33111225e-02 7.75151994e-04 9.99727958e-01 -2.10813266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4436178649999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.21, Z:-0.21 [[ 9.99737141e-01 2.85054408e-03 2.27491581e-02 6.03123401e+00] [-2.83225509e-03 9.99995640e-01 -8.36120729e-04 -2.07656730e-01] [-2.27514423e-02 7.71469528e-04 9.99740855e-01 -2.12095152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.473617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.21, Z:-0.21 [[ 9.99739580e-01 2.21172496e-03 2.27130096e-02 6.06377568e+00] [-2.19319296e-03 9.99997241e-01 -8.40797885e-04 -2.09304863e-01] [-2.27148066e-02 7.90764912e-04 9.99741673e-01 -2.12832020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.21, Z:-0.21 [[ 9.99724937e-01 1.95747545e-03 2.33713242e-02 6.09687711e+00] [-1.93763536e-03 9.99997743e-01 -8.71522952e-04 -2.11194156e-01] [-2.33729774e-02 8.25998125e-04 9.99726473e-01 -2.13202946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.533617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.23, Z:-0.19 [[ 9.99833227e-01 -8.81353644e-05 1.82622781e-02 6.12819426e+00] [-5.04243257e-04 9.99473878e-01 3.24301358e-02 -2.30103895e-01] [-1.82555281e-02 -3.24339359e-02 9.99307148e-01 -1.90224047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5636178649999986 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.20, Z:-0.23 [[ 9.99715634e-01 1.35490479e-03 2.38078761e-02 6.16053745e+00] [-5.34906044e-04 9.99407485e-01 -3.44150000e-02 -1.96097089e-01] [-2.38403986e-02 3.43924786e-02 9.99124013e-01 -2.27337157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.593617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.21, Z:-0.22 [[ 9.99690757e-01 8.86967399e-05 2.48672883e-02 6.19315987e+00] [-6.53491036e-05 9.99999556e-01 -9.39700599e-04 -2.14262538e-01] [-2.48673607e-02 9.37784948e-04 9.99690320e-01 -2.16203200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.24, Z:-0.18 [[ 9.99881629e-01 1.15683270e-03 1.53424296e-02 6.22503247e+00] [-1.94581595e-03 9.98670575e-01 5.15101498e-02 -2.41713725e-01] [-1.52624444e-02 -5.15339060e-02 9.98554613e-01 -1.79629456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.653617864999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.19, Z:-0.24 [[ 9.99721876e-01 3.38429812e-03 2.33391800e-02 6.25713049e+00] [-2.13562305e-03 9.98575189e-01 -5.33200843e-02 -1.87795006e-01] [-2.34863772e-02 5.32554110e-02 9.98304689e-01 -2.37096928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.683617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.22, Z:-0.22 [[ 9.99694084e-01 1.37814897e-03 2.46949401e-02 6.28953265e+00] [-1.35535773e-03 9.99998640e-01 -9.39625286e-04 -2.19751017e-01] [-2.46962014e-02 9.05867361e-04 9.99694592e-01 -2.17298048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.713617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.22, Z:-0.22 [[ 9.99674767e-01 5.17464647e-04 2.54969161e-02 6.32247872e+00] [-4.92828860e-04 9.99999406e-01 -9.72500514e-04 -2.21380855e-01] [-2.54974042e-02 9.59618609e-04 9.99674428e-01 -2.17842286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.22, Z:-0.22 [[ 9.99658593e-01 -1.10359888e-03 2.61051622e-02 6.35531565e+00] [ 1.13016631e-03 9.99998858e-01 -1.00297594e-03 -2.22345830e-01] [-2.61040255e-02 1.03213670e-03 9.99658699e-01 -2.18813747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7736178649999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.22, Z:-0.22 [[ 9.99646252e-01 -3.42582182e-03 2.63748955e-02 6.38732060e+00] [ 3.45393834e-03 9.99993514e-01 -1.02055049e-03 -2.21317191e-01] [-2.63712282e-02 1.11128674e-03 9.99651601e-01 -2.20406983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.22, Z:-0.22 [[ 9.99658312e-01 -4.79339189e-03 2.56959546e-02 6.41997872e+00] [ 4.82069044e-03 9.99987880e-01 -1.00052642e-03 -2.22656648e-01] [-2.56908473e-02 1.12405680e-03 9.99669304e-01 -2.21816961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.22, Z:-0.22 [[ 9.99673313e-01 -6.81514520e-03 2.46337382e-02 6.45179518e+00] [ 6.84100806e-03 9.99976134e-01 -9.65774890e-04 -2.24874547e-01] [-2.46265684e-02 1.13397899e-03 9.99696077e-01 -2.22639148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.23, Z:-0.22 [[ 9.99654628e-01 -8.67918265e-03 2.48051639e-02 6.48352755e+00] [ 8.70607834e-03 9.99961625e-01 -9.76487293e-04 -2.26594221e-01] [-2.47957369e-02 1.19210574e-03 9.99691828e-01 -2.22750156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893617864999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.23, Z:-0.22 [[ 9.99643521e-01 -9.35955609e-03 2.50045816e-02 6.51608766e+00] [ 9.38726246e-03 9.99955448e-01 -9.90898616e-04 -2.28315227e-01] [-2.49941933e-02 1.22526995e-03 9.99686845e-01 -2.23536310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.23, Z:-0.22 [[ 9.99652570e-01 -1.01464184e-02 2.43267435e-02 6.54747589e+00] [ 1.01729266e-02 9.99947788e-01 -9.66162132e-04 -2.31061701e-01] [-2.43156703e-02 1.21330063e-03 9.99703594e-01 -2.23989865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.23, Z:-0.22 [[ 9.99659482e-01 -1.03434942e-02 2.39568708e-02 6.58053483e+00] [ 1.03693551e-02 9.99945780e-01 -9.55496017e-04 -2.31719898e-01] [-2.39456887e-02 1.20358795e-03 9.99712536e-01 -2.23919742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9836178649999985 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.23, Z:-0.23 [[ 9.99694168e-01 -1.06238690e-02 2.23316606e-02 6.61519280e+00] [ 1.07264011e-02 9.99932450e-01 -4.47656988e-03 -2.27594429e-01] [-2.22825936e-02 4.71473915e-03 9.99740595e-01 -2.26985096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.26, Z:-0.19 [[ 0.99985361 -0.0110885 0.01303087 6.64617641] [ 0.01043714 0.99874263 0.04903299 -0.25724945] [-0.01355819 -0.0488898 0.99871215 -0.18957129] [ 0. 0. 0. 1. ]] SLAMing on 8.043617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.23, Z:-0.21 [[ 9.99875099e-01 -1.07878598e-02 1.15502962e-02 6.67793283e+00] [ 1.07824373e-02 9.99941727e-01 5.31635813e-04 -2.34747675e-01] [-1.15553583e-02 -4.07029066e-04 9.99933152e-01 -2.09875753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.073617865 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.24, Z:-0.20 [[ 0.99987402 -0.01255808 0.00970721 6.70843511] [ 0.0124679 0.99987907 0.00929492 -0.24036585] [-0.00982277 -0.00917272 0.99990968 -0.20497744] [ 0. 0. 0. 1. ]] SLAMing on 8.103617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.20, Z:-0.25 [[ 0.99968142 -0.0138774 0.02108246 6.7379826 ] [ 0.01507044 0.99823022 -0.05752659 -0.20310309] [-0.02024683 0.05782598 0.99812135 -0.25102728] [ 0. 0. 0. 1. ]] SLAMing on 8.133617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.26, Z:-0.19 [[ 0.99978721 -0.01719029 0.01140271 6.76890329] [ 0.01654975 0.99839993 0.05407119 -0.26295164] [-0.01231397 -0.05387097 0.99847197 -0.19089217] [ 0. 0. 0. 1. ]] SLAMing on 8.163617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.20, Z:-0.25 [[ 0.99966833 -0.01661501 0.0196769 6.80131562] [ 0.01774499 0.9981169 -0.05871775 -0.20355561] [-0.01866425 0.05904744 0.99808068 -0.25411225] [ 0. 0. 0. 1. ]] SLAMing on 8.193617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.24, Z:-0.23 [[ 9.99591422e-01 -1.73980355e-02 2.26781438e-02 6.83131148e+00] [ 1.73383932e-02 9.99845691e-01 2.82394111e-03 -2.36250092e-01] [-2.27237754e-02 -2.42958474e-03 9.99738829e-01 -2.32682336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.24, Z:-0.23 [[ 9.99624329e-01 -1.62428208e-02 2.20764881e-02 6.86309881e+00] [ 1.62663491e-02 9.99867301e-01 -8.86596038e-04 -2.35176471e-01] [-2.20591577e-02 1.24536683e-03 9.99755892e-01 -2.34033395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.253617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.24, Z:-0.23 [[ 9.99637356e-01 -1.50785247e-02 2.23113067e-02 6.89545651e+00] [ 1.51022943e-02 9.99885551e-01 -8.97239126e-04 -2.36660690e-01] [-2.22952242e-02 1.23386567e-03 9.99750669e-01 -2.34236882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.24, Z:-0.23 [[ 9.99659276e-01 -1.35326293e-02 2.23203812e-02 6.92751993e+00] [ 1.35561349e-02 9.99907704e-01 -9.02123336e-04 -2.37607608e-01] [-2.23061131e-02 1.20439406e-03 9.99750462e-01 -2.34919833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.313617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.24, Z:-0.24 [[ 9.99674745e-01 -1.22936587e-02 2.23443580e-02 6.96065339e+00] [ 1.23169320e-02 9.99923735e-01 -9.04244840e-04 -2.37730825e-01] [-2.23315375e-02 1.17916467e-03 9.99749925e-01 -2.35728056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.24, Z:-0.24 [[ 9.99697216e-01 -8.66517876e-03 2.30301996e-02 6.99397120e+00] [ 8.68899522e-03 9.99961814e-01 -9.34272050e-04 -2.37007385e-01] [-2.30212245e-02 1.13409846e-03 9.99734333e-01 -2.36649648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.373617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.24, Z:-0.24 [[ 9.99685301e-01 -7.24489554e-03 2.40168927e-02 7.02606082e+00] [ 7.27045356e-03 9.99973093e-01 -9.77018658e-04 -2.37642752e-01] [-2.40091680e-02 1.15132489e-03 9.99711075e-01 -2.37344061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.24, Z:-0.24 [[ 9.99698493e-01 -5.32419023e-03 2.39703172e-02 7.05874456e+00] [ 5.34914384e-03 9.99985216e-01 -9.77021619e-04 -2.38714870e-01] [-2.39647610e-02 1.10494772e-03 9.99712193e-01 -2.37748711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.24, Z:-0.24 [[ 9.99711740e-01 -2.48930169e-03 2.38796998e-02 7.09156336e+00] [ 2.51331753e-03 9.99996366e-01 -9.75740649e-04 -2.40207473e-01] [-2.38771841e-02 1.03547665e-03 9.99714363e-01 -2.38569091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.24, Z:-0.24 [[ 9.99736969e-01 -1.56705358e-03 2.28809477e-02 7.12458551e+00] [ 1.63704433e-03 9.99994038e-01 -3.04049901e-03 -2.41394768e-01] [-2.28760466e-02 3.07715639e-03 9.99733573e-01 -2.39695135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.25, Z:-0.24 [[ 9.99727604e-01 -7.05065612e-04 2.33285176e-02 7.15657406e+00] [ 6.79453341e-04 9.99999158e-01 1.10580355e-03 -2.45794930e-01] [-2.33292776e-02 -1.08965169e-03 9.99727242e-01 -2.38611184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.25, Z:-0.24 [[ 9.99750390e-01 5.95478209e-04 2.23338933e-02 7.18916570e+00] [-5.75068682e-04 9.99999411e-01 -9.20247902e-04 -2.46245090e-01] [-2.23344281e-02 9.07174676e-04 9.99750144e-01 -2.40869985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.553617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.25, Z:-0.24 [[ 9.99751625e-01 1.18844302e-03 2.22547835e-02 7.22127916e+00] [-1.16818527e-03 9.99998891e-01 -9.23243280e-04 -2.47617887e-01] [-2.22558560e-02 8.97016259e-04 9.99751905e-01 -2.42532993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.25, Z:-0.24 [[ 9.99749513e-01 1.96031147e-03 2.22950409e-02 7.25366991e+00] [-1.94004811e-03 9.99997685e-01 -9.30466041e-04 -2.49589293e-01] [-2.22968133e-02 8.86979520e-04 9.99751002e-01 -2.43526789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.613617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.25, Z:-0.24 [[ 9.99769707e-01 3.55042351e-03 2.11643015e-02 7.28648530e+00] [-3.53240665e-03 9.99993366e-01 -8.88609285e-04 -2.52860605e-01] [-2.11673160e-02 8.13643725e-04 9.99775616e-01 -2.44638523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.26, Z:-0.25 [[ 9.99790442e-01 4.34484317e-03 2.00048821e-02 7.31938272e+00] [-4.32880372e-03 9.99990274e-01 -8.45010095e-04 -2.55353718e-01] [-2.00083590e-02 7.58235807e-04 9.99799525e-01 -2.45716690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.673617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.26, Z:-0.25 [[ 9.99802847e-01 4.87832268e-03 1.92475932e-02 7.35134697e+00] [-4.86347314e-03 9.99987838e-01 -8.18235184e-04 -2.57663603e-01] [-1.92513507e-02 7.24463714e-04 9.99814413e-01 -2.46840809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.26, Z:-0.25 [[ 9.99802297e-01 4.99083381e-03 1.92473069e-02 7.38476046e+00] [-4.97587685e-03 9.99987280e-01 -8.24906119e-04 -2.59187266e-01] [-1.92511791e-02 7.28970804e-04 9.99814413e-01 -2.47892411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.26, Z:-0.25 [[ 9.99816887e-01 5.42428537e-03 1.83512610e-02 7.41762429e+00] [-5.41076541e-03 9.99985053e-01 -7.86302975e-04 -2.62501613e-01] [-1.83552518e-02 6.86864625e-04 9.99831292e-01 -2.49485829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.26, Z:-0.25 [[ 9.99822224e-01 5.13358684e-03 1.81429674e-02 7.44996883e+00] [-5.12023560e-03 9.99986586e-01 -7.82266180e-04 -2.64543994e-01] [-1.81467399e-02 6.89230844e-04 9.99835097e-01 -2.50758839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.27, Z:-0.25 [[ 9.99799612e-01 6.25265550e-03 1.90168184e-02 7.48275334e+00] [-6.23808134e-03 9.99980202e-01 -8.25606255e-04 -2.65003324e-01] [-1.90216042e-02 7.06812354e-04 9.99818823e-01 -2.51866138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.27, Z:-0.25 [[ 9.99770853e-01 7.66129915e-03 1.99886322e-02 7.51466156e+00] [-7.64535583e-03 9.99970392e-01 -8.73916169e-04 -2.67338284e-01] [-1.99947357e-02 7.20895709e-04 9.99799825e-01 -2.52866249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.27, Z:-0.25 [[ 9.99770855e-01 7.92453874e-03 1.98856611e-02 7.54737922e+00] [-7.90871439e-03 9.99968343e-01 -8.74285039e-04 -2.70692607e-01] [-1.98919599e-02 7.16814686e-04 9.99801878e-01 -2.53214499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.27, Z:-0.25 [[ 9.99783484e-01 7.78753043e-03 1.92960917e-02 7.58052521e+00] [-7.77251006e-03 9.99969430e-01 -8.53290613e-04 -2.72740980e-01] [-1.93021468e-02 7.03126795e-04 9.99813449e-01 -2.53319562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.913617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.27, Z:-0.25 [[ 9.99775328e-01 8.02331401e-03 1.96193784e-02 7.61356548e+00] [-8.00772492e-03 9.99967557e-01 -8.73009386e-04 -2.74206943e-01] [-1.96257464e-02 7.15706660e-04 9.99807140e-01 -2.54524057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.30, Z:-0.23 [[ 9.99902577e-01 6.05448547e-03 1.25769609e-02 7.64518837e+00] [-6.48877868e-03 9.99373858e-01 3.47820135e-02 -2.95070819e-01] [-1.23584987e-02 -3.48602340e-02 9.99315782e-01 -2.28450293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.973617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.28, Z:-0.24 [[ 9.99913313e-01 6.93390030e-03 1.11931479e-02 7.67735389e+00] [-6.92618176e-03 9.99975749e-01 -7.28194499e-04 -2.79639450e-01] [-1.11979257e-02 6.50605598e-04 9.99937090e-01 -2.43134654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.26, Z:-0.27 [[ 9.99833792e-01 7.06139161e-03 1.68084680e-02 7.70963233e+00] [-6.46084889e-03 9.99348130e-01 -3.55186117e-02 -2.62438176e-01] [-1.70483219e-02 3.54041113e-02 9.99227654e-01 -2.68639245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.033617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.28, Z:-0.26 [[ 9.99824894e-01 3.84151824e-03 1.83145750e-02 7.74156144e+00] [-3.82698989e-03 9.99992334e-01 -8.28249348e-04 -2.81338994e-01] [-1.83176164e-02 7.58014624e-04 9.99831931e-01 -2.56822758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.28, Z:-0.26 [[ 9.99829176e-01 2.40119314e-03 1.83263015e-02 7.77430009e+00] [-2.38632690e-03 9.99996806e-01 -8.33022496e-04 -2.83295458e-01] [-1.83282432e-02 7.89147650e-04 9.99831712e-01 -2.57718790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.093617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.30, Z:-0.24 [[ 9.99920982e-01 4.36597584e-04 1.25633970e-02 7.80612956e+00] [-8.04728748e-04 9.99569994e-01 2.93117630e-02 -3.00825170e-01] [-1.25451972e-02 -2.93195570e-02 9.99491361e-01 -2.35685052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.27, Z:-0.27 [[ 9.99851267e-01 -1.79284689e-04 1.72456402e-02 7.83838750e+00] [ 7.09533827e-04 9.99526989e-01 -3.07456495e-02 -2.70839717e-01] [-1.72319706e-02 3.07533130e-02 9.99378453e-01 -2.70341154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.153617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.29, Z:-0.26 [[ 9.99799767e-01 -5.07325565e-03 1.93568529e-02 7.87107575e+00] [ 5.09145984e-03 9.99986641e-01 -8.91285858e-04 -2.89905937e-01] [-1.93520726e-02 9.89662032e-04 9.99812241e-01 -2.58784111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.29, Z:-0.26 [[ 9.99780594e-01 -6.62141292e-03 1.98726286e-02 7.90358988e+00] [ 6.64091010e-03 9.99977530e-01 -9.15273894e-04 -2.92398903e-01] [-1.98661216e-02 1.04704542e-03 9.99802101e-01 -2.58695823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.213617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.29, Z:-0.26 [[ 9.99747320e-01 -6.88517038e-03 2.13984010e-02 7.93504489e+00] [ 6.90798175e-03 9.99975647e-01 -9.92295219e-04 -2.93032207e-01] [-2.13910478e-02 1.13986425e-03 9.99770536e-01 -2.59069100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.29, Z:-0.26 [[ 9.99731117e-01 -7.02001100e-03 2.21000578e-02 7.96762552e+00] [ 7.04453754e-03 9.99974654e-01 -1.03213789e-03 -2.93543099e-01] [-2.20922521e-02 1.18754505e-03 9.99755231e-01 -2.60361130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.273617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.29, Z:-0.26 [[ 9.99744990e-01 -6.95248295e-03 2.14852911e-02 8.00038433e+00] [ 6.97569303e-03 9.99975164e-01 -1.00551943e-03 -2.93924491e-01] [-2.14777667e-02 1.15513781e-03 9.99768659e-01 -2.61681584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.30, Z:-0.26 [[ 9.99744067e-01 -6.84382120e-03 2.15630000e-02 8.03347581e+00] [ 6.86722078e-03 9.99975909e-01 -1.01131143e-03 -2.95260342e-01] [-2.15555593e-02 1.15913049e-03 9.99766980e-01 -2.62657541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.333617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.30, Z:-0.26 [[ 9.99741487e-01 -6.43787223e-03 2.18062437e-02 8.06573722e+00] [ 6.46174357e-03 9.99978598e-01 -1.02441668e-03 -2.96867424e-01] [-2.17991819e-02 1.16505821e-03 9.99761691e-01 -2.63299296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.30, Z:-0.26 [[ 9.99712445e-01 -5.26779199e-03 2.33939481e-02 8.09867762e+00] [ 5.29506240e-03 9.99985372e-01 -1.10391171e-03 -2.97031017e-01] [-2.33877907e-02 1.22746669e-03 9.99725715e-01 -2.63901316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.393617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.30, Z:-0.26 [[ 9.99699355e-01 -4.08112866e-03 2.41773289e-02 8.13069919e+00] [ 4.10994954e-03 9.99990901e-01 -1.14249097e-03 -2.97423345e-01] [-2.41724463e-02 1.24151509e-03 9.99707033e-01 -2.64862819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.30, Z:-0.27 [[ 9.99686358e-01 -2.62662297e-03 2.49055510e-02 8.16343414e+00] [ 2.65694526e-03 9.99995769e-01 -1.18447781e-03 -2.97956105e-01] [-2.49023345e-02 1.25027899e-03 9.99689107e-01 -2.65834428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.453617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.30, Z:-0.27 [[ 9.99678618e-01 2.93877886e-04 2.53490374e-02 8.19567406e+00] [-2.63355767e-04 9.99999236e-01 -1.20740413e-03 -2.98870106e-01] [-2.53493728e-02 1.20034027e-03 9.99677932e-01 -2.66476081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.30, Z:-0.27 [[ 9.99684646e-01 1.85555245e-03 2.50432620e-02 8.22832063e+00] [-1.82609675e-03 9.99997614e-01 -1.19901074e-03 -3.00667557e-01] [-2.50454270e-02 1.15290121e-03 9.99685649e-01 -2.67280338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.30, Z:-0.27 [[ 9.99688312e-01 3.45932743e-03 2.47247403e-02 8.26156286e+00] [-3.43094125e-03 9.99993406e-01 -1.19041688e-03 -3.02756512e-01] [-2.47286953e-02 1.10521671e-03 9.99693588e-01 -2.68259306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.30, Z:-0.27 [[ 9.99683923e-01 4.66541083e-03 2.47040208e-02 8.29436514e+00] [-4.63727299e-03 9.99988532e-01 -1.19616484e-03 -3.04324190e-01] [-2.47093181e-02 1.08122747e-03 9.99694093e-01 -2.69534937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.30, Z:-0.27 [[ 9.99690107e-01 7.03552071e-03 2.38786919e-02 8.32760073e+00] [-7.00975634e-03 9.99974756e-01 -1.16250250e-03 -3.04404142e-01] [-2.38862679e-02 9.94758438e-04 9.99714187e-01 -2.71778756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.31, Z:-0.27 [[ 9.99687865e-01 8.33126003e-03 2.35533824e-02 8.36071710e+00] [-8.30640248e-03 9.99964837e-01 -1.15301103e-03 -3.05493465e-01] [-2.35621602e-02 9.57007259e-04 9.99721916e-01 -2.73383143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.30, Z:-0.28 [[ 9.99672750e-01 7.88749955e-03 2.43347458e-02 8.39139554e+00] [-7.77673694e-03 9.99958982e-01 -4.64290931e-03 -3.03404179e-01] [-2.43703685e-02 4.45214500e-03 9.99693085e-01 -2.78287850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.31, Z:-0.27 [[ 9.99689471e-01 1.11247914e-02 2.22979981e-02 8.42380354e+00] [-1.11821175e-02 9.99934482e-01 2.44787286e-03 -3.11157760e-01] [-2.22693051e-02 -2.69645156e-03 9.99748372e-01 -2.74028157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.31, Z:-0.28 [[ 9.99694987e-01 1.18038631e-02 2.16933406e-02 8.45616848e+00] [-1.17833028e-02 9.99929996e-01 -1.07535336e-03 -3.11269345e-01] [-2.17045153e-02 8.19406165e-04 9.99764093e-01 -2.76336057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.31, Z:-0.28 [[ 9.99692433e-01 1.19644735e-02 2.17230617e-02 8.48860485e+00] [-1.19437780e-02 9.99928085e-01 -1.08219628e-03 -3.13221805e-01] [-2.17344474e-02 8.22408010e-04 9.99763441e-01 -2.77624599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.753617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.31, Z:-0.28 [[ 9.99699699e-01 9.00488472e-03 2.27908785e-02 8.51788211e+00] [-8.97956456e-03 9.99958947e-01 -1.21307570e-03 -3.12496799e-01] [-2.28008665e-02 1.00805925e-03 9.99739518e-01 -2.80356994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.32, Z:-0.28 [[ 9.99705761e-01 6.24796121e-03 2.34383046e-02 8.54981391e+00] [-6.25135640e-03 9.99980458e-01 7.15879920e-05 -3.15891569e-01] [-2.34373992e-02 -2.18088123e-04 9.99725283e-01 -2.80374709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.32, Z:-0.28 [[ 9.99693430e-01 7.41597110e-03 2.36230710e-02 8.58418739e+00] [-7.36946047e-03 9.99970733e-01 -2.05531432e-03 -3.20016288e-01] [-2.36376218e-02 1.88059494e-03 9.99718824e-01 -2.81385932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.32, Z:-0.28 [[ 9.99695924e-01 3.23494822e-03 2.44457303e-02 8.61426055e+00] [-3.22917996e-03 9.99994748e-01 -2.75433869e-04 -3.20885522e-01] [-2.44464929e-02 1.96410454e-04 9.99701121e-01 -2.82057054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.32, Z:-0.28 [[ 9.99702314e-01 2.56425130e-03 2.42632985e-02 8.64971365e+00] [-2.51531514e-03 9.99994741e-01 -2.04718439e-03 -3.23857287e-01] [-2.42684204e-02 1.98554513e-03 9.99703507e-01 -2.82577180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.33, Z:-0.28 [[ 9.99675234e-01 4.17459017e-03 2.51395914e-02 8.68178750e+00] [-4.14354276e-03 9.99990587e-01 -1.28696565e-03 -3.29257968e-01] [-2.51447273e-02 1.18238072e-03 9.99683122e-01 -2.83021606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.33, Z:-0.28 [[ 9.99677809e-01 5.23803336e-03 2.48362816e-02 8.71509214e+00] [-5.20791238e-03 9.99985623e-01 -1.27730942e-03 -3.29691471e-01] [-2.48426151e-02 1.14755270e-03 9.99690716e-01 -2.84582210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.33, Z:-0.29 [[ 9.99726239e-01 4.56161159e-03 2.29486078e-02 8.74661061e+00] [-4.53559657e-03 9.99989011e-01 -1.18554304e-03 -3.28130343e-01] [-2.29537636e-02 1.08113286e-03 9.99735943e-01 -2.87471578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.33, Z:-0.29 [[ 9.99717140e-01 8.62459273e-03 2.21643063e-02 8.77965353e+00] [-8.60120246e-03 9.99962347e-01 -1.15042917e-03 -3.31900920e-01] [-2.21733937e-02 9.59464077e-04 9.99753680e-01 -2.88586871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.33, Z:-0.29 [[ 9.99697633e-01 1.07324481e-02 2.21236630e-02 8.81289066e+00] [-1.07095338e-02 9.99941985e-01 -1.15396436e-03 -3.32601357e-01] [-2.21347643e-02 9.16681325e-04 9.99754576e-01 -2.90472336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.33, Z:-0.29 [[ 9.99692111e-01 1.22780373e-02 2.15623257e-02 8.84454208e+00] [-1.22564979e-02 9.99924247e-01 -1.13081403e-03 -3.34233777e-01] [-2.15745765e-02 8.66187262e-04 9.99766867e-01 -2.91569276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.33, Z:-0.29 [[ 9.99727106e-01 1.13745508e-02 2.04042372e-02 8.87777697e+00] [-1.13550057e-02 9.99934954e-01 -1.07350111e-03 -3.34314177e-01] [-2.04151206e-02 8.41517931e-04 9.99791236e-01 -2.90909929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.34, Z:-0.29 [[ 9.99720887e-01 1.21660676e-02 2.02518098e-02 8.90687309e+00] [-1.23318706e-02 9.99891294e-01 8.08241766e-03 -3.40818055e-01] [-2.01512770e-02 -8.32990445e-03 9.99762241e-01 -2.87330913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.33, Z:-0.30 [[ 0.99969899 0.01354282 0.02045801 8.94141525] [-0.01333237 0.99985715 -0.01038864 -0.33481044] [-0.02059578 0.01011276 0.99973674 -0.29834502] [ 0. 0. 0. 1. ]] SLAMing on 10.173617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.34, Z:-0.30 [[ 9.99699275e-01 1.22639658e-02 2.12356984e-02 8.97420789e+00] [-1.22427454e-02 9.99924417e-01 -1.12900125e-03 -3.41924351e-01] [-2.12479394e-02 8.68678481e-04 9.99773860e-01 -2.95653298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.35, Z:-0.30 [[ 9.99697277e-01 8.79571491e-03 2.29780328e-02 9.00660479e+00] [-8.76981105e-03 9.99960791e-01 -1.22785990e-03 -3.45446601e-01] [-2.29879317e-02 1.02597519e-03 9.99735216e-01 -2.95126175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.35, Z:-0.30 [[ 9.99697219e-01 7.65090085e-03 2.33866245e-02 9.03846786e+00] [-7.62361635e-03 9.99970152e-01 -1.25560739e-03 -3.47088018e-01] [-2.33955330e-02 1.07693656e-03 9.99725707e-01 -2.95395051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.35, Z:-0.30 [[ 9.99693470e-01 5.80009684e-03 2.40691893e-02 9.07168910e+00] [-5.77052952e-03 9.99982508e-01 -1.29770502e-03 -3.48814217e-01] [-2.40762951e-02 1.15841526e-03 9.99709453e-01 -2.96742320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.293617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.37, Z:-0.28 [[ 9.99787974e-01 2.11789900e-03 2.04822350e-02 9.10532726e+00] [-2.55906981e-03 9.99764776e-01 2.15370246e-02 -3.65711326e-01] [-2.04318039e-02 -2.15848737e-02 9.99558220e-01 -2.80951999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.34, Z:-0.31 [[ 9.99713452e-01 6.82189419e-04 2.39279941e-02 9.13541709e+00] [-1.04267376e-04 9.99708450e-01 -2.41454852e-02 -3.42288905e-01] [-2.39374897e-02 2.41360715e-02 9.99422056e-01 -3.06710189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353617864999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.36, Z:-0.30 [[ 9.99676179e-01 -6.34654155e-04 2.54388414e-02 9.16760524e+00] [ 6.70175965e-04 9.99998812e-01 -1.38785982e-03 -3.55065227e-01] [-2.54379304e-02 1.40445890e-03 9.99675417e-01 -2.99575025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.36, Z:-0.29 [[ 9.99747196e-01 -7.76485070e-04 2.24708860e-02 9.20109093e+00] [ 5.19549337e-04 9.99934452e-01 1.14377413e-02 -3.64601284e-01] [-2.24782943e-02 -1.14231751e-02 9.99682068e-01 -2.91681637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.35, Z:-0.31 [[ 9.99724380e-01 -6.57774161e-04 2.34676588e-02 9.23060949e+00] [ 9.89152514e-04 9.99899934e-01 -1.41118271e-02 -3.51604935e-01] [-2.34560281e-02 1.41311507e-02 9.99624992e-01 -3.06913866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.36, Z:-0.30 [[ 9.99709559e-01 -5.62547225e-04 2.40931790e-02 9.26290177e+00] [ 5.94589649e-04 9.99998948e-01 -1.32279441e-03 -3.59295630e-01] [-2.40924095e-02 1.33673577e-03 9.99708842e-01 -3.02542755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.473617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.36, Z:-0.30 [[ 9.99713148e-01 6.06032277e-04 2.39427369e-02 9.29622959e+00] [-5.74696383e-04 9.99998969e-01 -1.31564418e-03 -3.60120036e-01] [-2.39435095e-02 1.30150698e-03 9.99712466e-01 -3.03531900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617864999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.36, Z:-0.30 [[ 9.99709888e-01 1.97853268e-03 2.40046800e-02 9.32964715e+00] [-1.94727190e-03 9.99997225e-01 -1.32558388e-03 -3.60727187e-01] [-2.40072361e-02 1.27845568e-03 9.99710967e-01 -3.04496246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.533617864999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.36, Z:-0.31 [[ 9.99679349e-01 5.05615548e-03 2.48119630e-02 9.36129235e+00] [-5.02352327e-03 9.99986433e-01 -1.37733618e-03 -3.59907278e-01] [-2.48185904e-02 1.25225107e-03 9.99691187e-01 -3.05554116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.36, Z:-0.31 [[ 9.99670026e-01 6.63729388e-03 2.48150192e-02 9.39470487e+00] [-6.60498522e-03 9.99977229e-01 -1.38371844e-03 -3.60041877e-01] [-2.48236382e-02 1.21935901e-03 9.99691102e-01 -3.06851048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.36, Z:-0.31 [[ 9.99668922e-01 8.58411716e-03 2.42561296e-02 9.42630824e+00] [-8.55366213e-03 9.99962493e-01 -1.35903791e-03 -3.60299671e-01] [-2.42668860e-02 1.15110923e-03 9.99704853e-01 -3.07697771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.36, Z:-0.31 [[ 9.99667920e-01 8.70104971e-03 2.42557374e-02 9.45969791e+00] [-8.67046048e-03 9.99961478e-01 -1.36599988e-03 -3.62263550e-01] [-2.42666886e-02 1.15523784e-03 9.99704853e-01 -3.08739094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.36, Z:-0.31 [[ 9.99681042e-01 9.52066322e-03 2.33917026e-02 9.49392465e+00] [-9.42331038e-03 9.99946489e-01 -4.26856598e-03 -3.61772827e-01] [-2.34310905e-02 4.04677721e-03 9.99717264e-01 -3.11039976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.37, Z:-0.31 [[ 9.99603580e-01 1.19333751e-02 2.55005363e-02 9.52441732e+00] [-1.19748430e-02 9.99927212e-01 1.47406724e-03 -3.66249550e-01] [-2.54810896e-02 -1.77884781e-03 9.99673722e-01 -3.08348470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.37, Z:-0.31 [[ 9.99582010e-01 1.26252236e-02 2.60078610e-02 9.55678813e+00] [-1.25910802e-02 9.99919640e-01 -1.47615896e-03 -3.65541199e-01] [-2.60244078e-02 1.14807488e-03 9.99660648e-01 -3.10435036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.37, Z:-0.31 [[ 9.99561833e-01 1.33022313e-02 2.64422501e-02 9.58902732e+00] [-1.32669995e-02 9.99910853e-01 -1.50740200e-03 -3.65766160e-01] [-2.64599447e-02 1.15593219e-03 9.99649206e-01 -3.11581556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.37, Z:-0.31 [[ 9.99516995e-01 1.44462817e-02 2.75151254e-02 9.62006403e+00] [-1.44201333e-02 9.99895365e-01 -1.14852605e-03 -3.65149785e-01] [-2.75288383e-02 7.51199529e-04 9.99620727e-01 -3.13671977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.37, Z:-0.31 [[ 9.99526044e-01 1.38872485e-02 2.74742003e-02 9.65263871e+00] [-1.38398369e-02 9.99902391e-01 -1.91508990e-03 -3.66799714e-01] [-2.74981139e-02 1.53394378e-03 9.99620678e-01 -3.14851629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.37, Z:-0.32 [[ 9.99536857e-01 1.40984490e-02 2.69686125e-02 9.68573966e+00] [-1.40616817e-02 9.99899924e-01 -1.55250720e-03 -3.69373976e-01] [-2.69878015e-02 1.17256412e-03 9.99635075e-01 -3.15230888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617864999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.37, Z:-0.32 [[ 9.99546267e-01 1.43392306e-02 2.64886068e-02 9.71847831e+00] [-1.43036744e-02 9.99896525e-01 -1.53132075e-03 -3.72073489e-01] [-2.65078239e-02 1.15174154e-03 9.99647942e-01 -3.15891177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.37, Z:-0.32 [[ 9.99562946e-01 1.48516066e-02 2.55606404e-02 9.75011115e+00] [-1.48184795e-02 9.99889098e-01 -1.48495897e-03 -3.74583055e-01] [-2.55798597e-02 1.10554014e-03 9.99672171e-01 -3.16835997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.38, Z:-0.32 [[ 9.99575137e-01 1.56645126e-02 2.45798297e-02 9.78286265e+00] [-1.56340426e-02 9.99876756e-01 -1.43132526e-03 -3.75985292e-01] [-2.45992214e-02 1.04643504e-03 9.99696846e-01 -3.17889259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.37, Z:-0.33 [[ 9.99558429e-01 1.32283532e-02 2.66074637e-02 9.81121230e+00] [-1.29641864e-02 9.99865189e-01 -1.00764228e-02 -3.67744213e-01] [-2.67371712e-02 9.72702920e-03 9.99595172e-01 -3.27429175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.37, Z:-0.33 [[ 9.99509387e-01 1.29020786e-02 2.85398352e-02 9.84161019e+00] [-1.27662897e-02 9.99906329e-01 -4.93498520e-03 -3.70520477e-01] [-2.86008334e-02 4.56821622e-03 9.99580474e-01 -3.29704638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.39, Z:-0.32 [[ 0.99954787 0.01821644 0.02392125 9.87829644] [-0.01849617 0.99976251 0.0115247 -0.38902959] [-0.02370563 -0.01196194 0.99964742 -0.31737877] [ 0. 0. 0. 1. ]] SLAMing on 11.043617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.38, Z:-0.33 [[ 9.99552254e-01 1.61933202e-02 2.51608270e-02 9.90759616e+00] [-1.59495585e-02 9.99824192e-01 -9.85882042e-03 -3.77361638e-01] [-2.53160505e-02 9.45310209e-03 9.99634802e-01 -3.30014413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.39, Z:-0.32 [[ 9.99543624e-01 1.92215194e-02 2.33040216e-02 9.94066389e+00] [-1.93356971e-02 9.99802076e-01 4.68407479e-03 -3.92235448e-01] [-2.32093741e-02 -5.13253659e-03 9.99717451e-01 -3.21818382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.39, Z:-0.33 [[ 9.99580181e-01 1.38982882e-02 2.54224203e-02 9.96863772e+00] [-1.37729385e-02 9.99892147e-01 -5.09915525e-03 -3.86823323e-01] [-2.54905480e-02 4.74687310e-03 9.99663793e-01 -3.30583680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.40, Z:-0.32 [[ 9.99621992e-01 1.36130230e-02 2.38863873e-02 1.00011874e+01] [-1.37749429e-02 9.99883158e-01 6.62734992e-03 -3.96969945e-01] [-2.37933781e-02 -6.95387834e-03 9.99692712e-01 -3.24570044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.40, Z:-0.32 [[ 9.99656906e-01 1.33315902e-02 2.25463809e-02 1.00332316e+01] [-1.34756140e-02 9.99889679e-01 6.24805797e-03 -4.00274175e-01] [-2.24605970e-02 -6.54974062e-03 9.99726274e-01 -3.24215239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.40, Z:-0.33 [[ 9.99642436e-01 1.56910080e-02 2.16515992e-02 1.00684631e+01] [-1.54858223e-02 9.99833885e-01 -9.61205711e-03 -3.98607970e-01] [-2.17988255e-02 9.27332737e-03 9.99719369e-01 -3.31022741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.41, Z:-0.33 [[ 9.99668513e-01 1.24691643e-02 2.25251738e-02 1.00988554e+01] [-1.24788828e-02 9.99922093e-01 2.90935963e-04 -4.07848624e-01] [-2.25197912e-02 -5.71928526e-04 9.99746234e-01 -3.27051130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.41, Z:-0.33 [[ 9.99640943e-01 1.40384351e-02 2.28233946e-02 1.01322347e+01] [-1.39741699e-02 9.99897937e-01 -2.97282705e-03 -4.10434955e-01] [-2.28627991e-02 2.65282164e-03 9.99735092e-01 -3.28873666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.41, Z:-0.33 [[ 9.99613541e-01 1.33066562e-02 2.44069845e-02 1.01632971e+01] [-1.32521416e-02 9.99909321e-01 -2.39396384e-03 -4.10266992e-01] [-2.44366270e-02 2.06959385e-03 9.99699239e-01 -3.30723313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.42, Z:-0.33 [[ 9.99598194e-01 1.64966633e-02 2.30501552e-02 1.01972628e+01] [-1.64923127e-02 9.99863921e-01 -3.78847084e-04 -4.15333431e-01] [-2.30532683e-02 -1.45550596e-06 9.99734238e-01 -3.29648984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.42, Z:-0.33 [[ 9.99629804e-01 1.82323810e-02 2.01949414e-02 1.02303649e+01] [-1.81379371e-02 9.99823731e-01 -4.84996201e-03 -4.15855570e-01] [-2.02798080e-02 4.48187200e-03 9.99784298e-01 -3.33177703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.42, Z:-0.33 [[ 9.99611953e-01 1.85515302e-02 2.07794076e-02 1.02619862e+01] [-1.86035168e-02 9.99824268e-01 2.31130855e-03 -4.21549940e-01] [-2.07328777e-02 -2.69698171e-03 9.99781413e-01 -3.31643836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.42, Z:-0.33 [[ 9.99615432e-01 1.91709356e-02 2.00365258e-02 1.02944484e+01] [-1.91498072e-02 9.99815849e-01 -1.24584754e-03 -4.21370411e-01] [-2.00567201e-02 8.61672823e-04 9.99798472e-01 -3.34215813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.433617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.42, Z:-0.34 [[ 9.99612795e-01 1.93844563e-02 1.99625275e-02 1.03267236e+01] [-1.93634154e-02 9.99811734e-01 -1.24678963e-03 -4.22846913e-01] [-1.99829376e-02 8.59764160e-04 9.99799951e-01 -3.35672691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.41, Z:-0.35 [[ 9.99596576e-01 1.46903069e-02 2.43080290e-02 1.03541985e+01] [-1.44460278e-02 9.99843679e-01 -1.01945981e-02 -4.13643460e-01] [-2.44539909e-02 9.83933091e-03 9.99652535e-01 -3.46227327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.493617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.43, Z:-0.33 [[ 9.99655446e-01 1.78332577e-02 1.92604522e-02 1.03901576e+01] [-1.79344947e-02 9.99826176e-01 5.09632030e-03 -4.28977898e-01] [-1.91662203e-02 -5.43999082e-03 9.99801512e-01 -3.34877176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.43, Z:-0.34 [[ 9.99687973e-01 1.57004325e-02 1.94281574e-02 1.04232661e+01] [-1.57330096e-02 9.99875065e-01 1.52508343e-03 -4.29637025e-01] [-1.94017857e-02 -1.83027095e-03 9.99810092e-01 -3.36486393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.553617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.43, Z:-0.34 [[ 9.99753866e-01 1.03064999e-02 1.96464599e-02 1.04558226e+01] [-1.02840823e-02 9.99946346e-01 -1.24174305e-03 -4.31341922e-01] [-1.96582039e-02 1.03939160e-03 9.99806219e-01 -3.37633365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.43, Z:-0.34 [[ 9.99760269e-01 7.58547798e-03 2.05393346e-02 1.04874254e+01] [-7.56027458e-03 9.99970570e-01 -1.30445273e-03 -4.33451694e-01] [-2.05486250e-02 1.14885701e-03 9.99788195e-01 -3.38335678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.613617864999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.44, Z:-0.34 [[ 9.99758580e-01 5.23942529e-03 2.13384727e-02 1.05205808e+01] [-5.21156912e-03 9.99985494e-01 -1.36084439e-03 -4.35677273e-01] [-2.13452932e-02 1.24930893e-03 9.99771383e-01 -3.38712102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.44, Z:-0.34 [[ 9.99728727e-01 3.35963177e-03 2.30474688e-02 1.05513273e+01] [-3.36443180e-03 9.99994326e-01 1.69494229e-04 -4.37789421e-01] [-2.30467686e-02 -2.46989886e-04 9.99734357e-01 -3.38751971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.673617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.44, Z:-0.34 [[ 9.99693483e-01 2.51221702e-04 2.47563551e-02 1.05842405e+01] [-1.26719900e-04 9.99987339e-01 -5.03052497e-03 -4.35193699e-01] [-2.47573054e-02 5.02584591e-03 9.99680857e-01 -3.41529724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.44, Z:-0.34 [[ 9.99644399e-01 -5.53885636e-04 2.66602633e-02 1.06160406e+01] [ 5.51075723e-04 9.99999842e-01 1.12744140e-04 -4.38014807e-01] [-2.66603215e-02 -9.80122244e-05 9.99644546e-01 -3.40530162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.733617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.44, Z:-0.34 [[ 9.99631727e-01 -9.10255354e-05 2.71367268e-02 1.06483821e+01] [ 1.38764485e-04 9.99998446e-01 -1.75732279e-03 -4.37646594e-01] [-2.71365246e-02 1.76044123e-03 9.99630187e-01 -3.42340019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.44, Z:-0.34 [[ 9.99623593e-01 7.41710797e-04 2.74248408e-02 1.06812102e+01] [-6.93072045e-04 9.99998170e-01 -1.78299200e-03 -4.38088825e-01] [-2.74261131e-02 1.76331348e-03 9.99622278e-01 -3.43711492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.793617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.44, Z:-0.34 [[ 9.99629943e-01 3.73589218e-03 2.69447663e-02 1.07139548e+01] [-3.68982730e-03 9.99991645e-01 -1.75912133e-03 -4.37056821e-01] [-2.69511131e-02 1.65904883e-03 9.99635376e-01 -3.44769295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.44, Z:-0.35 [[ 9.99589667e-01 5.43508400e-03 2.81239823e-02 1.07453848e+01] [-5.38533607e-03 9.99983798e-01 -1.84432116e-03 -4.37812794e-01] [-2.81335506e-02 1.69210727e-03 9.99602741e-01 -3.45977214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.853617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.44, Z:-0.35 [[ 9.99624941e-01 8.88653873e-03 2.59038126e-02 1.07786954e+01] [-8.84532078e-03 9.99959425e-01 -1.70534392e-03 -4.37991743e-01] [-2.59179161e-02 1.47557678e-03 9.99662985e-01 -3.47201296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.46, Z:-0.32 [[ 0.99973516 0.01595384 0.01658587 10.81368233] [-0.01656694 0.99915892 0.03750989 -0.45902427] [-0.01597349 -0.03777474 0.9991586 -0.31858328] [ 0. 0. 0. 1. ]] SLAMing on 11.913617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.43, Z:-0.34 [[ 9.99689293e-01 1.88020812e-02 1.63645858e-02 1.08460436e+01] [-1.86263100e-02 9.99767882e-01 -1.08279111e-02 -4.33709301e-01] [-1.65643746e-02 1.05197349e-02 9.99807460e-01 -3.41408402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.44, Z:-0.34 [[ 9.99640700e-01 2.09631412e-02 1.67037941e-02 1.08792195e+01] [-2.09760041e-02 9.99779802e-01 5.95205184e-04 -4.40334192e-01] [-1.66876386e-02 -9.45370180e-04 9.99860305e-01 -3.37859214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.45, Z:-0.33 [[ 9.99615255e-01 2.29588966e-02 1.55637713e-02 1.09114777e+01] [-2.30936094e-02 9.99696901e-01 8.53176658e-03 -4.45664712e-01] [-1.53631740e-02 -8.88790768e-03 9.99842477e-01 -3.33359782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.43, Z:-0.35 [[ 0.99955723 0.02376936 0.01789888 10.94146056] [-0.02344712 0.99956296 -0.01800328 -0.43075539] [-0.01831898 0.01757563 0.9996777 -0.3491502 ] [ 0. 0. 0. 1. ]] SLAMing on 12.033617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.44, Z:-0.34 [[ 9.99512263e-01 2.56732831e-02 1.77797406e-02 1.09720147e+01] [-2.57193391e-02 9.99666402e-01 2.36652843e-03 -4.43894850e-01] [-1.77130527e-02 -2.82265736e-03 9.99839127e-01 -3.40243107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.45, Z:-0.34 [[ 9.99493481e-01 2.62005395e-02 1.80641297e-02 1.10059124e+01] [-2.63393929e-02 9.99624982e-01 7.49206733e-03 -4.49310002e-01] [-1.78610591e-02 -7.96407067e-03 9.99808760e-01 -3.37383840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.43, Z:-0.36 [[ 0.99940263 0.02418848 0.02468394 11.03449141] [-0.02357344 0.9994117 -0.02491059 -0.43027619] [-0.02527196 0.02431383 0.99938489 -0.35886154] [ 0. 0. 0. 1. ]] SLAMing on 12.123617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.44, Z:-0.35 [[ 9.99276523e-01 2.50860379e-02 2.85853461e-02 1.10659514e+01] [-2.49717585e-02 9.99678702e-01 -4.34788623e-03 -4.41066052e-01] [-2.86852329e-02 3.63091427e-03 9.99581900e-01 -3.52938286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.46, Z:-0.34 [[ 0.99929062 0.02747951 0.02575129 11.10103247] [-0.02795904 0.99943878 0.01845031 -0.45692939] [-0.02522983 -0.0191572 0.9994981 -0.33866493] [ 0. 0. 0. 1. ]] SLAMing on 12.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.43, Z:-0.37 [[ 0.99913884 0.02629991 0.03209181 11.12847719] [-0.02524017 0.99913686 -0.03299209 -0.42714558] [-0.0329318 0.03215368 0.99894026 -0.37040383] [ 0. 0. 0. 1. ]] SLAMing on 12.213617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.45, Z:-0.36 [[ 9.99163552e-01 2.49889868e-02 3.23689187e-02 1.11626782e+01] [-2.50719833e-02 9.99683313e-01 2.16067711e-03 -4.48217767e-01] [-3.23046747e-02 -2.97042280e-03 9.99473654e-01 -3.57196458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.44, Z:-0.36 [[ 9.99108417e-01 2.56160944e-02 3.35587047e-02 1.11927699e+01] [-2.54026625e-02 9.99654369e-01 -6.77102224e-03 -4.44351202e-01] [-3.37205529e-02 5.91250486e-03 9.99413811e-01 -3.64149702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.45, Z:-0.36 [[ 9.99113353e-01 2.52879631e-02 3.36604574e-02 1.12257222e+01] [-2.52269033e-02 9.99679247e-01 -2.23752271e-03 -4.48929225e-01] [-3.37062431e-02 1.38638972e-03 9.99430822e-01 -3.63705202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.46, Z:-0.35 [[ 0.99926268 0.0261339 0.02812685 11.25993707] [-0.02647131 0.9995812 0.01169127 -0.46107988] [-0.02780953 -0.0124272 0.99953599 -0.35477186] [ 0. 0. 0. 1. ]] SLAMing on 12.333617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.45, Z:-0.37 [[ 0.99925217 0.02464407 0.02979544 11.28916606] [-0.02417718 0.99958076 -0.0159301 -0.4458507 ] [-0.03017553 0.01519782 0.99942907 -0.37165314] [ 0. 0. 0. 1. ]] SLAMing on 12.363617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.45, Z:-0.37 [[ 9.99314267e-01 2.39228073e-02 2.82612059e-02 1.13216733e+01] [-2.37074022e-02 9.99687467e-01 -7.93262021e-03 -4.52368154e-01] [-2.84421439e-02 7.25718078e-03 9.99569096e-01 -3.70223805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393617865 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.47, Z:-0.36 [[ 0.99927275 0.02636253 0.0275496 11.35847125] [-0.02686005 0.99947986 0.01784796 -0.47361743] [-0.02706475 -0.01857497 0.99946109 -0.35813488] [ 0. 0. 0. 1. ]] SLAMing on 12.423617864999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.46, Z:-0.37 [[ 9.99356346e-01 2.40626509e-02 2.66060581e-02 1.13869785e+01] [-2.38970454e-02 9.99693131e-01 -6.52493432e-03 -4.61087038e-01] [-2.67549007e-02 5.88492835e-03 9.99624701e-01 -3.68494215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.47, Z:-0.36 [[ 0.99943979 0.02211908 0.02511688 11.42037079] [-0.02242811 0.99967536 0.01208933 -0.47447159] [-0.02484133 -0.01264588 0.99961142 -0.35763392] [ 0. 0. 0. 1. ]] SLAMing on 12.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.45, Z:-0.38 [[ 0.99933105 0.01906416 0.03120925 11.44659061] [-0.01811956 0.99937737 -0.0302748 -0.4492545 ] [-0.03176698 0.02968905 0.99905426 -0.38484966] [ 0. 0. 0. 1. ]] SLAMing on 12.513617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.47, Z:-0.38 [[ 9.99286407e-01 1.82137171e-02 3.30898492e-02 1.14793333e+01] [-1.81509056e-02 9.99832844e-01 -2.19763286e-03 -4.66047965e-01] [-3.31243451e-02 1.59545391e-03 9.99449965e-01 -3.76582984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.49, Z:-0.36 [[ 0.99944289 0.01959325 0.02701872 11.51559235] [-0.02032606 0.99942552 0.02711979 -0.48771899] [-0.02647184 -0.02765387 0.99926698 -0.35662131] [ 0. 0. 0. 1. ]] SLAMing on 12.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.48, Z:-0.37 [[ 9.99528192e-01 2.15908476e-02 2.18455816e-02 1.15485545e+01] [-2.15012993e-02 9.99759462e-01 -4.32578927e-03 -4.76299546e-01] [-2.19337243e-02 3.85403994e-03 9.99751998e-01 -3.66726100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.48, Z:-0.37 [[ 9.99435872e-01 1.97544254e-02 2.71606243e-02 1.15799548e+01] [-1.95577674e-02 9.99780693e-01 -7.48726218e-03 -4.76285328e-01] [-2.73025743e-02 6.95183724e-03 9.99603042e-01 -3.72981556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.48, Z:-0.38 [[ 9.99378899e-01 1.90945417e-02 2.96178064e-02 1.16103917e+01] [-1.89129922e-02 9.99800663e-01 -6.39784657e-03 -4.78138729e-01] [-2.97340664e-02 5.83371152e-03 9.99540821e-01 -3.75520283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.48, Z:-0.37 [[ 9.99342621e-01 2.12677733e-02 2.93599688e-02 1.16421333e+01] [-2.12358741e-02 9.99773516e-01 -1.39790297e-03 -4.83410345e-01] [-2.93830496e-02 7.73499414e-04 9.99567926e-01 -3.74013482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.47, Z:-0.39 [[ 0.99923571 0.02179578 0.03244914 11.67043812] [-0.02122856 0.99961754 -0.01772336 -0.47483467] [-0.03282303 0.01702097 0.99931623 -0.38664646] [ 0. 0. 0. 1. ]] SLAMing on 12.723617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.48, Z:-0.39 [[ 9.99151187e-01 2.17321659e-02 3.49945547e-02 1.17017239e+01] [-2.15432306e-02 9.99751284e-01 -5.76707871e-03 -4.82110531e-01] [-3.51111821e-02 5.00828778e-03 9.99370863e-01 -3.86203868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.753617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.49, Z:-0.38 [[ 9.99186528e-01 2.30558004e-02 3.30864314e-02 1.17352286e+01] [-2.31014910e-02 9.99732626e-01 9.99283194e-04 -4.88413820e-01] [-3.30545456e-02 -1.76281620e-03 9.99451995e-01 -3.84518199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617864999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.49, Z:-0.39 [[ 9.99179004e-01 2.35370554e-02 3.29746183e-02 1.17654758e+01] [-2.33655001e-02 9.99711426e-01 -5.57841700e-03 -4.86284344e-01] [-3.30964022e-02 4.80336870e-03 9.99440621e-01 -3.90467650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.50, Z:-0.38 [[ 0.99927298 0.02518066 0.02862607 11.80041168] [-0.02561096 0.99956293 0.01476578 -0.50228533] [-0.02824175 -0.01548818 0.99948113 -0.37846129] [ 0. 0. 0. 1. ]] SLAMing on 12.843617864999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.49, Z:-0.39 [[ 0.9992566 0.02479438 0.0295208 11.830492 ] [-0.02434964 0.99958595 -0.01533065 -0.48750874] [-0.02988869 0.01460043 0.99944659 -0.39496147] [ 0. 0. 0. 1. ]] SLAMing on 12.873617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.51, Z:-0.38 [[ 0.99931433 0.02568684 0.02666552 11.86325266] [-0.02607389 0.99955816 0.01427004 -0.50732921] [-0.02628719 -0.01495553 0.99954255 -0.37986282] [ 0. 0. 0. 1. ]] SLAMing on 12.903617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.50, Z:-0.39 [[ 9.99275381e-01 2.62955504e-02 2.75183190e-02 1.18947738e+01] [-2.60415019e-02 9.99615244e-01 -9.55005023e-03 -4.96532993e-01] [-2.77588550e-02 8.82651172e-03 9.99575679e-01 -3.92543144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.933617864999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.49, Z:-0.40 [[ 0.99923942 0.02438531 0.03042925 11.92519371] [-0.02394554 0.99960468 -0.01473413 -0.49342299] [-0.03077651 0.01399428 0.99942832 -0.40022509] [ 0. 0. 0. 1. ]] SLAMing on 12.963617864999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.50, Z:-0.40 [[ 9.99192307e-01 2.41759979e-02 3.20975918e-02 1.19556340e+01] [-2.41001210e-02 9.99705771e-01 -2.74877963e-03 -5.00511386e-01] [-3.21546023e-02 1.97300361e-03 9.99480960e-01 -3.97127857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.50, Z:-0.40 [[ 9.99190881e-01 2.31618164e-02 3.28803035e-02 1.19884265e+01] [-2.31050796e-02 9.99730827e-01 -2.10451410e-03 -5.03228351e-01] [-3.29201974e-02 1.34310927e-03 9.99457081e-01 -3.97941317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.50, Z:-0.41 [[ 9.99148488e-01 2.20073623e-02 3.48994981e-02 1.20190266e+01] [-2.15935343e-02 9.99692506e-01 -1.21906643e-02 -4.99146420e-01] [-3.51570511e-02 1.14266803e-02 9.99316473e-01 -4.06373812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.053617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.51, Z:-0.40 [[ 9.99190350e-01 2.18849596e-02 3.37593519e-02 1.20500801e+01] [-2.21494485e-02 9.99726685e-01 7.48050938e-03 -5.12436305e-01] [-3.35864143e-02 -8.22220381e-03 9.99401995e-01 -3.97200026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.51, Z:-0.40 [[ 9.99250669e-01 2.08947656e-02 3.25808028e-02 1.20831461e+01] [-2.08324033e-02 9.99780445e-01 -2.25240483e-03 -5.09195197e-01] [-3.26207129e-02 1.57198061e-03 9.99466567e-01 -4.02172129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.113617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.51, Z:-0.41 [[ 9.99363752e-01 1.93191746e-02 2.99810017e-02 1.21171922e+01] [-1.90340267e-02 9.99771126e-01 -9.76740665e-03 -5.07484840e-01] [-3.01628381e-02 9.19053298e-03 9.99502745e-01 -4.06744707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.52, Z:-0.40 [[ 9.99285117e-01 1.89172094e-02 3.27321579e-02 1.21464052e+01] [-1.91011715e-02 9.99803420e-01 5.31666181e-03 -5.17229338e-01] [-3.26251470e-02 -5.93808358e-03 9.99450018e-01 -4.02143589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.173617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.49, Z:-0.43 [[ 9.99009185e-01 1.32063880e-02 4.24998707e-02 1.21732418e+01] [-1.14185864e-02 9.99050790e-01 -4.20372965e-02 -4.87264319e-01] [-4.30146902e-02 4.15103569e-02 9.98211714e-01 -4.34825573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.54, Z:-0.39 [[ 0.99921279 0.01656663 0.03604642 12.20864697] [-0.01792926 0.99912398 0.03781291 -0.5384832 ] [-0.03538841 -0.03842943 0.99863449 -0.3924007 ] [ 0. 0. 0. 1. ]] SLAMing on 13.233617865 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.50, Z:-0.43 [[ 0.99904305 0.01519915 0.04101182 12.23809997] [-0.01384549 0.99935643 -0.03309112 -0.49859587] [-0.04148838 0.03249163 0.99861054 -0.43153858] [ 0. 0. 0. 1. ]] SLAMing on 13.263617864999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.54, Z:-0.40 [[ 0.99918678 0.01896008 0.03558508 12.27268448] [-0.01999022 0.99938472 0.02881974 -0.53919316] [-0.03501676 -0.02950766 0.99895101 -0.39763625] [ 0. 0. 0. 1. ]] SLAMing on 13.293617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.53, Z:-0.41 [[ 9.99190750e-01 2.26975590e-02 3.32063995e-02 1.23064063e+01] [-2.26320857e-02 9.99741108e-01 -2.34629533e-03 -5.25483536e-01] [-3.32510578e-02 1.59286651e-03 9.99445761e-01 -4.10278451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.53, Z:-0.41 [[ 9.99174195e-01 2.41384699e-02 3.26842716e-02 1.23395799e+01] [-2.40755438e-02 9.99707456e-01 -2.31751153e-03 -5.27867024e-01] [-3.27306512e-02 1.52870610e-03 9.99463040e-01 -4.11446654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.353617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.53, Z:-0.42 [[ 9.99225463e-01 2.47770885e-02 3.05707532e-02 1.23718567e+01] [-2.45027082e-02 9.99656341e-01 -9.31752494e-03 -5.27049364e-01] [-3.07911084e-02 8.56124193e-03 9.99489176e-01 -4.15613312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.54, Z:-0.41 [[ 9.99079680e-01 2.59569539e-02 3.41471757e-02 1.24016075e+01] [-2.61485460e-02 9.99644667e-01 5.17613445e-03 -5.37827222e-01] [-3.40006854e-02 -6.06426974e-03 9.99403411e-01 -4.10509395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.413617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.54, Z:-0.41 [[ 9.99100742e-01 2.65711250e-02 3.30406230e-02 1.24340996e+01] [-2.65071540e-02 9.99645808e-01 -2.37273103e-03 -5.37008264e-01] [-3.30919664e-02 1.49478446e-03 9.99451193e-01 -4.13835791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.54, Z:-0.42 [[ 9.99096720e-01 2.66088039e-02 3.31317989e-02 1.24666314e+01] [-2.65442013e-02 9.99644788e-01 -2.38827059e-03 -5.39832082e-01] [-3.31835791e-02 1.50665617e-03 9.99448138e-01 -4.15259068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.473617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.54, Z:-0.42 [[ 9.99136772e-01 2.62376110e-02 3.22071340e-02 1.24994038e+01] [-2.61761032e-02 9.99654632e-01 -2.32998436e-03 -5.41848480e-01] [-3.22571439e-02 1.48491578e-03 9.99478500e-01 -4.17445288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.54, Z:-0.42 [[ 9.99148042e-01 2.62687855e-02 3.18298623e-02 1.25315164e+01] [-2.62084444e-02 9.99653827e-01 -2.31154275e-03 -5.43765077e-01] [-3.18795651e-02 1.47536224e-03 9.99490629e-01 -4.19226333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.55, Z:-0.42 [[ 9.99167438e-01 2.61337782e-02 3.13281977e-02 1.25645325e+01] [-2.60750127e-02 9.99657382e-01 -2.28294950e-03 -5.46253591e-01] [-3.13771262e-02 1.46416565e-03 9.99506544e-01 -4.20727367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.55, Z:-0.42 [[ 9.99163575e-01 2.60495591e-02 3.15209680e-02 1.25958474e+01] [-2.59897492e-02 9.99659550e-01 -2.30576229e-03 -5.49332065e-01] [-3.15703008e-02 1.48461164e-03 9.99500431e-01 -4.22139914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.55, Z:-0.42 [[ 9.99176655e-01 2.55090295e-02 3.15483922e-02 1.26271279e+01] [-2.54485920e-02 9.99673450e-01 -2.31582374e-03 -5.53219903e-01] [-3.15971645e-02 1.51105486e-03 9.99499543e-01 -4.22364029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.56, Z:-0.42 [[ 9.99173723e-01 2.51774201e-02 3.19056200e-02 1.26601027e+01] [-2.51151897e-02 9.99681802e-01 -2.34977942e-03 -5.55490951e-01] [-3.19546291e-02 1.54652215e-03 9.99488124e-01 -4.23487241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.56, Z:-0.42 [[ 9.99159802e-01 2.55054634e-02 3.20805562e-02 1.26924214e+01] [-2.54424330e-02 9.99673476e-01 -2.37149642e-03 -5.57535828e-01] [-3.21305673e-02 1.55329649e-03 9.99482473e-01 -4.24957297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.56, Z:-0.43 [[ 9.99249295e-01 2.45603011e-02 2.99606185e-02 1.27265478e+01] [-2.43446265e-02 9.99675174e-01 -7.54231422e-03 -5.56743958e-01] [-3.01361280e-02 6.80727210e-03 9.99522623e-01 -4.28745025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.56, Z:-0.43 [[ 9.99143785e-01 2.58526926e-02 3.23007068e-02 1.27563849e+01] [-2.59530380e-02 9.99659541e-01 2.69114289e-03 -5.63745727e-01] [-3.22201364e-02 -3.52714016e-03 9.99474573e-01 -4.26379683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.56, Z:-0.43 [[ 9.99091559e-01 2.76141210e-02 3.24579334e-02 1.27891380e+01] [-2.75502944e-02 9.99617508e-01 -2.41211653e-03 -5.63004382e-01] [-3.25121270e-02 1.51569964e-03 9.99470192e-01 -4.29799922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.57, Z:-0.43 [[ 9.99048195e-01 2.90000802e-02 3.25837231e-02 1.28221684e+01] [-2.89362018e-02 9.99578306e-01 -2.43038033e-03 -5.65552742e-01] [-3.26404640e-02 1.48521790e-03 9.99466055e-01 -4.31384697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.56, Z:-0.44 [[ 9.98985427e-01 2.87815501e-02 3.46372562e-02 1.28528679e+01] [-2.85063389e-02 9.99558204e-01 -8.41340690e-03 -5.62778517e-01] [-3.48641045e-02 7.41748952e-03 9.99364536e-01 -4.38294639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.57, Z:-0.43 [[ 9.98983020e-01 3.04844483e-02 3.32208502e-02 1.28854799e+01] [-3.06184123e-02 9.99524909e-01 3.53117336e-03 -5.73276317e-01] [-3.30974214e-02 -4.54475191e-03 9.99441797e-01 -4.31924135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.57, Z:-0.44 [[ 9.98961078e-01 2.92221531e-02 3.49689951e-02 1.29152585e+01] [-2.90125537e-02 9.99558001e-01 -6.48645936e-03 -5.68296348e-01] [-3.51430872e-02 5.46518058e-03 9.99367347e-01 -4.39579667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893617864999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.58, Z:-0.44 [[ 9.98955660e-01 3.06761230e-02 3.38609575e-02 1.29488265e+01] [-3.07465498e-02 9.99525994e-01 1.56101907e-03 -5.77810433e-01] [-3.37970211e-02 -2.60049645e-03 9.99425334e-01 -4.35575771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617864999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.58, Z:-0.44 [[ 9.98954184e-01 3.07506840e-02 3.38368830e-02 1.29819981e+01] [-3.06815299e-02 9.99525930e-01 -2.56120998e-03 -5.78749884e-01] [-3.38996009e-02 1.52036409e-03 9.99424087e-01 -4.38120695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953617864999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.58, Z:-0.44 [[ 9.98913639e-01 3.07583602e-02 3.50066408e-02 1.30135807e+01] [-3.06839947e-02 9.99525597e-01 -2.65971085e-03 -5.81981936e-01] [-3.50718419e-02 1.58267786e-03 9.99383541e-01 -4.39189645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.59, Z:-0.44 [[ 9.98900349e-01 3.09088800e-02 3.52524327e-02 1.30466839e+01] [-3.08332429e-02 9.99520930e-01 -2.68734402e-03 -5.85219002e-01] [-3.53186071e-02 1.59744206e-03 9.99374827e-01 -4.40782016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013617864999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.59, Z:-0.44 [[ 9.98898693e-01 3.10130148e-02 3.52078617e-02 1.30794887e+01] [-3.09373031e-02 9.99517698e-01 -2.69330479e-03 -5.88848780e-01] [-3.52744084e-02 1.60110235e-03 9.99376382e-01 -4.42000141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617864999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.58, Z:-0.45 [[ 0.99886674 0.02871369 0.03795727 13.11003154] [-0.0281226 0.99947617 -0.01601598 -0.58431458] [-0.03839726 0.01493037 0.99915101 -0.45287619] [ 0. 0. 0. 1. ]] SLAMing on 14.073617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.60, Z:-0.45 [[ 9.98844299e-01 2.85255891e-02 3.86827707e-02 1.31414295e+01] [-2.84480422e-02 9.99592010e-01 -2.55375159e-03 -5.95172477e-01] [-3.87398358e-02 1.45035112e-03 9.99248278e-01 -4.49169605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617864999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.61, Z:-0.44 [[ 9.98873442e-01 3.07473206e-02 3.61448458e-02 1.31745728e+01] [-3.11520807e-02 9.99457501e-01 1.06888223e-02 -6.07635925e-01] [-3.57965847e-02 -1.18027678e-02 9.99289397e-01 -4.40815754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133617864999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.60, Z:-0.45 [[ 9.98898096e-01 3.18624541e-02 3.44583448e-02 1.32079160e+01] [-3.17895138e-02 9.99491039e-01 -2.66270982e-03 -6.03361284e-01] [-3.45256473e-02 1.56436175e-03 9.99402588e-01 -4.47429437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617864999999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.61, Z:-0.45 [[ 9.98877288e-01 3.34912466e-02 3.35037286e-02 1.32400100e+01] [-3.34229063e-02 9.99437922e-01 -2.59791806e-03 -6.06821297e-01] [-3.35719044e-02 1.47520937e-03 9.99435216e-01 -4.50059103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193617864999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.61, Z:-0.45 [[ 9.98859888e-01 3.45220550e-02 3.29719953e-02 1.32726220e+01] [-3.44561595e-02 9.99402919e-01 -2.56481247e-03 -6.10634698e-01] [-3.30408509e-02 1.42579997e-03 9.99452985e-01 -4.50918545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617864999998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.61, Z:-0.46 [[ 9.98846977e-01 3.39784845e-02 3.39142943e-02 1.33044872e+01] [-3.37175809e-02 9.99397468e-01 -8.23569070e-03 -6.10789250e-01] [-3.41736961e-02 7.08268680e-03 9.99390811e-01 -4.57255350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253617864999999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.62, Z:-0.45 [[ 9.98838275e-01 3.47686846e-02 3.33652475e-02 1.33362985e+01] [-3.48894521e-02 9.99386542e-01 3.04402755e-03 -6.21911851e-01] [-3.32389425e-02 -4.20458644e-03 9.99438589e-01 -4.50941333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617864999998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.63, Z:-0.45 [[ 9.98883537e-01 3.53819729e-02 3.13016898e-02 1.33703810e+01] [-3.54297450e-02 9.99371696e-01 9.72686880e-04 -6.28311500e-01] [-3.12476073e-02 -2.08061180e-03 9.99509509e-01 -4.50748679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313617864999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.62, Z:-0.46 [[ 9.98871994e-01 3.41912850e-02 3.29499095e-02 1.34004302e+01] [-3.40027992e-02 9.99402107e-01 -6.26400682e-03 -6.24927284e-01] [-3.31443835e-02 5.13655182e-03 9.99437375e-01 -4.55891682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617864999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.63, Z:-0.46 [[ 9.98858995e-01 3.38549143e-02 3.36831275e-02 1.34326433e+01] [-3.37846217e-02 9.99425613e-01 -2.65400604e-03 -6.29189657e-01] [-3.37536315e-02 1.51300609e-03 9.99429039e-01 -4.56110745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.63, Z:-0.46 [[ 9.98887542e-01 3.25765804e-02 3.40946460e-02 1.34646953e+01] [-3.25036140e-02 9.99467992e-01 -2.69233858e-03 -6.33330109e-01] [-3.41642146e-02 1.58114425e-03 9.99414982e-01 -4.57044540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.64, Z:-0.46 [[ 9.98834134e-01 3.31525993e-02 3.50895746e-02 1.34951734e+01] [-3.31374980e-02 9.99450290e-01 -1.01200658e-03 -6.38572049e-01] [-3.51038362e-02 -1.51953991e-04 9.99383659e-01 -4.57268452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.433617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.64, Z:-0.46 [[ 9.98827944e-01 3.34365110e-02 3.49962681e-02 1.35284814e+01] [-3.33664077e-02 9.99439842e-01 -2.58544319e-03 -6.40560115e-01] [-3.50631128e-02 1.41471315e-03 9.99384099e-01 -4.59161832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.64, Z:-0.46 [[ 9.98921891e-01 3.15753091e-02 3.40302129e-02 1.35627328e+01] [-3.14470634e-02 9.99496180e-01 -4.29737926e-03 -6.44015229e-01] [-3.41487589e-02 3.22259596e-03 9.99411565e-01 -4.60606011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.493617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.65, Z:-0.46 [[ 9.98965610e-01 3.17030009e-02 3.25979971e-02 1.35943538e+01] [-3.14660755e-02 9.99474729e-01 -7.75572053e-03 -6.46194996e-01] [-3.28267539e-02 6.72196706e-03 9.99438452e-01 -4.63457839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.66, Z:-0.46 [[ 9.98937635e-01 3.02886260e-02 3.47304017e-02 1.36269105e+01] [-3.03887519e-02 9.99535372e-01 2.35859396e-03 -6.55097900e-01] [-3.46428264e-02 -3.41150183e-03 9.99393934e-01 -4.61190958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.65, Z:-0.47 [[ 9.98872558e-01 3.16570177e-02 3.53757929e-02 1.36596702e+01] [-3.14756274e-02 9.99488421e-01 -5.67286600e-03 -6.53712391e-01] [-3.55372814e-02 4.55299490e-03 9.99357980e-01 -4.67557959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.66, Z:-0.46 [[ 9.98799414e-01 3.31186925e-02 3.60954543e-02 1.36899308e+01] [-3.31376496e-02 9.99450795e-01 -7.30976138e-05 -6.59299659e-01] [-3.60780514e-02 -1.12310866e-03 9.99348344e-01 -4.64651156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.66, Z:-0.47 [[ 9.98758290e-01 3.45347476e-02 3.59058335e-02 1.37217306e+01] [-3.44531021e-02 9.99402136e-01 -2.89031490e-03 -6.61691067e-01] [-3.59841830e-02 1.64965862e-03 9.99350998e-01 -4.66460102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.67, Z:-0.47 [[ 9.98667710e-01 3.74430438e-02 3.55080655e-02 1.37535559e+01] [-3.73648367e-02 9.99297587e-01 -2.86378210e-03 -6.65270509e-01] [-3.55903529e-02 1.53321365e-03 9.99365287e-01 -4.67527608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.67, Z:-0.47 [[ 9.98709487e-01 3.89073241e-02 3.26432279e-02 1.37864443e+01] [-3.88755023e-02 9.99242766e-01 -1.60919169e-03 -6.68905909e-01] [-3.26811187e-02 3.38093130e-04 9.99465772e-01 -4.68226714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.67, Z:-0.47 [[ 9.98650519e-01 4.04778875e-02 3.25373893e-02 1.38190934e+01] [-4.06002426e-02 9.99170635e-01 3.10832260e-03 -6.74463642e-01] [-3.23845856e-02 -4.42515388e-03 9.99465686e-01 -4.67227217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733617864999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.67, Z:-0.47 [[ 9.98481830e-01 4.35724145e-02 3.36968722e-02 1.38497432e+01] [-4.32676256e-02 9.99016211e-01 -9.72228178e-03 -6.70829169e-01] [-3.40873449e-02 8.24953806e-03 9.99384810e-01 -4.74705747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617864999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.69, Z:-0.46 [[ 9.98505618e-01 4.46590052e-02 3.14976783e-02 1.38822992e+01] [-4.50183004e-02 9.98927876e-01 1.07912943e-02 -6.85693663e-01] [-3.09819804e-02 -1.21931399e-02 9.99445568e-01 -4.64015936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.793617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.67, Z:-0.48 [[ 0.99833064 0.04659878 0.03412461 13.91303814] [-0.04605913 0.99880353 -0.01643359 -0.67323644] [-0.03484957 0.01483441 0.99928247 -0.47883428] [ 0. 0. 0. 1. ]] SLAMing on 14.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.68, Z:-0.47 [[ 9.98209868e-01 4.84348168e-02 3.50874410e-02 1.39453426e+01] [-4.83641471e-02 9.98825674e-01 -2.86055748e-03 -6.82950850e-01] [-3.51847874e-02 1.15846255e-03 9.99380152e-01 -4.74988830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.69, Z:-0.48 [[ 9.98143213e-01 4.96244963e-02 3.53204759e-02 1.39777265e+01] [-4.95532881e-02 9.98767302e-01 -2.88914706e-03 -6.85827412e-01] [-3.54203089e-02 1.13353681e-03 9.99371861e-01 -4.76702606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.70, Z:-0.47 [[ 9.98245036e-01 5.00742897e-02 3.16135127e-02 1.40111685e+01] [-5.05272923e-02 9.98628760e-01 1.36964519e-02 -6.98373046e-01] [-3.08843229e-02 -1.52697603e-02 9.99406320e-01 -4.67026001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.913617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.68, Z:-0.49 [[ 0.99810617 0.05127254 0.03398835 14.04113788] [-0.05063709 0.9985306 -0.0193011 -0.6832585 ] [-0.03492802 0.01754348 0.99923584 -0.48541043] [ 0. 0. 0. 1. ]] SLAMing on 14.943617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.70, Z:-0.47 [[ 9.98224923e-01 5.03954128e-02 3.17380738e-02 1.40736127e+01] [-5.08023919e-02 9.98634822e-01 1.21494365e-02 -7.03865061e-01] [-3.10824698e-02 -1.37402404e-02 9.99422376e-01 -4.70208127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.973617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.69, Z:-0.49 [[ 0.99814308 0.05080573 0.03360314 14.10400153] [-0.05022871 0.99857913 -0.01779905 -0.69153571] [-0.03445969 0.01607815 0.99927675 -0.48661685] [ 0. 0. 0. 1. ]] SLAMing on 15.003617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.70, Z:-0.48 [[ 9.98132644e-01 5.05951769e-02 3.42250266e-02 1.41360363e+01] [-5.05277122e-02 9.98718639e-01 -2.83381222e-03 -7.01672224e-01] [-3.43245492e-02 1.09920819e-03 9.99410135e-01 -4.82556339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.033617864999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.70, Z:-0.48 [[ 9.98245629e-01 4.96373843e-02 3.22768307e-02 1.41679655e+01] [-4.95286761e-02 9.98764041e-01 -4.15933265e-03 -7.03376387e-01] [-3.24433963e-02 2.55340694e-03 9.99470313e-01 -4.84361958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617864999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.71, Z:-0.49 [[ 9.98324196e-01 4.83457388e-02 3.18039336e-02 1.42005505e+01] [-4.82579400e-02 9.98828694e-01 -3.52289825e-03 -7.07422124e-01] [-3.19369986e-02 1.98220224e-03 9.99487918e-01 -4.85170259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.72, Z:-0.48 [[ 9.98218046e-01 4.72992798e-02 3.63800880e-02 1.42303725e+01] [-4.77537408e-02 9.98790312e-01 1.17257392e-02 -7.18483365e-01] [-3.57814604e-02 -1.34421297e-02 9.99269231e-01 -4.80089767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.71, Z:-0.49 [[ 0.99846363 0.04603489 0.03084091 14.26424201] [-0.04553271 0.9988217 -0.01679254 -0.70705216] [-0.03157761 0.01536247 0.99938323 -0.49139311] [ 0. 0. 0. 1. ]] SLAMing on 15.153617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.72, Z:-0.49 [[ 9.98701972e-01 4.04103219e-02 3.10060729e-02 1.42981096e+01] [-4.02782763e-02 9.99176624e-01 -4.87178779e-03 -7.18114786e-01] [-3.11774138e-02 3.61659290e-03 9.99507323e-01 -4.87670791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.72, Z:-0.49 [[ 9.98700205e-01 3.93595577e-02 3.23840410e-02 1.43291628e+01] [-3.93652663e-02 9.99224781e-01 -4.61520727e-04 -7.22924356e-01] [-3.23771016e-02 -8.13885556e-04 9.99475393e-01 -4.86861083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.72, Z:-0.49 [[ 9.98822037e-01 3.71407469e-02 3.12266465e-02 1.43633469e+01] [-3.69681400e-02 9.99297906e-01 -6.08703683e-03 -7.22696142e-01] [-3.14307996e-02 4.92547549e-03 9.99493794e-01 -4.90713014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.73, Z:-0.49 [[ 9.98784240e-01 3.64419286e-02 3.31968160e-02 1.43932274e+01] [-3.64835220e-02 9.99334045e-01 6.47860287e-04 -7.28573793e-01] [-3.31510992e-02 -1.85820941e-03 9.99448624e-01 -4.89338286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.73, Z:-0.49 [[ 9.98939160e-01 3.36671510e-02 3.14178011e-02 1.44275537e+01] [-3.34133551e-02 9.99404886e-01 -8.56859403e-03 -7.27575835e-01] [-3.16875841e-02 7.50972997e-03 9.99469610e-01 -4.94605683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.74, Z:-0.49 [[ 9.98809935e-01 3.41007336e-02 3.48691077e-02 1.44578913e+01] [-3.42151035e-02 9.99410876e-01 2.68837584e-03 -7.35616258e-01] [-3.47568898e-02 -3.87822662e-03 9.99388272e-01 -4.91118664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.333617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.73, Z:-0.49 [[ 9.98968694e-01 3.20063077e-02 3.22047330e-02 1.44901842e+01] [-3.19353816e-02 9.99486250e-01 -2.71444534e-03 -7.32849612e-01] [-3.22750672e-02 1.68317548e-03 9.99477607e-01 -4.94201846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.74, Z:-0.50 [[ 9.98749372e-01 3.57602289e-02 3.49413536e-02 1.45229976e+01] [-3.56786814e-02 9.99358945e-01 -2.95477783e-03 -7.37660827e-01] [-3.50246178e-02 1.70442108e-03 9.99384996e-01 -4.96252722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.393617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.74, Z:-0.50 [[ 9.98906153e-01 3.46679572e-02 3.13788077e-02 1.45564461e+01] [-3.46014236e-02 9.99397649e-01 -2.66103069e-03 -7.37142490e-01] [-3.14521591e-02 1.57236851e-03 9.99504022e-01 -4.96598689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.74, Z:-0.50 [[ 9.98643400e-01 3.85262360e-02 3.50298392e-02 1.45882033e+01] [-3.84452762e-02 9.99256257e-01 -2.98205788e-03 -7.41390150e-01] [-3.51186735e-02 1.63128057e-03 9.99381818e-01 -4.99669120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.453617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.74, Z:-0.50 [[ 9.98550707e-01 4.05335792e-02 3.54050120e-02 1.46197511e+01] [-4.04517885e-02 9.99176916e-01 -3.02371539e-03 -7.43636227e-01] [-3.54984327e-02 1.58713708e-03 9.99368472e-01 -5.01019788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.75, Z:-0.50 [[ 9.98306038e-01 4.52112328e-02 3.66196638e-02 1.46521657e+01] [-4.51266267e-02 9.98976359e-01 -3.13407375e-03 -7.45033115e-01] [-3.67238737e-02 1.47624284e-03 9.99324361e-01 -5.02243542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.74, Z:-0.51 [[ 9.98268941e-01 4.73636707e-02 3.48683921e-02 1.46851351e+01] [-4.70414941e-02 9.98842846e-01 -1.00033638e-02 -7.43190874e-01] [-3.53018400e-02 8.34578612e-03 9.99341847e-01 -5.06534793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.75, Z:-0.50 [[ 9.98016481e-01 4.98724424e-02 3.84167027e-02 1.47164031e+01] [-5.00390507e-02 9.98741519e-01 3.38702848e-03 -7.51327643e-01] [-3.81994366e-02 -5.30264558e-03 9.99256066e-01 -5.02597391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.75, Z:-0.51 [[ 9.97900639e-01 5.23070270e-02 3.81875609e-02 1.47498542e+01] [-5.22194381e-02 9.98630221e-01 -3.28817208e-03 -7.49492623e-01] [-3.83072469e-02 1.28713605e-03 9.99265179e-01 -5.06684905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.75, Z:-0.51 [[ 9.97742630e-01 5.50339708e-02 3.84825386e-02 1.47824156e+01] [-5.49466361e-02 9.98483759e-01 -3.32423036e-03 -7.50946649e-01] [-3.86071354e-02 1.20224029e-03 9.99253743e-01 -5.08122305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.75, Z:-0.51 [[ 9.97697547e-01 5.58994326e-02 3.84038940e-02 1.48144435e+01] [-5.58126857e-02 9.98435711e-01 -3.32805303e-03 -7.53257912e-01] [-3.85298555e-02 1.17696588e-03 9.99256756e-01 -5.09437594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.76, Z:-0.51 [[ 9.97675250e-01 5.60700506e-02 3.87329925e-02 1.48475528e+01] [-5.59815435e-02 9.98426127e-01 -3.36671923e-03 -7.55497703e-01] [-3.88608038e-02 1.19055975e-03 9.99243924e-01 -5.11185070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.76, Z:-0.51 [[ 9.97743813e-01 5.48712172e-02 3.86837525e-02 1.48798083e+01] [-5.47816170e-02 9.98492662e-01 -3.37320737e-03 -7.57753175e-01] [-3.88105350e-02 1.24643827e-03 9.99245810e-01 -5.12606124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.76, Z:-0.51 [[ 9.97783001e-01 5.38426686e-02 3.91158440e-02 1.49124011e+01] [-5.37498597e-02 9.98548571e-01 -3.42120828e-03 -7.60653846e-01] [-3.92432771e-02 1.31115233e-03 9.99228826e-01 -5.14225782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.753617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.76, Z:-0.52 [[ 9.97841914e-01 5.25940609e-02 3.93113071e-02 1.49451367e+01] [-5.24989285e-02 9.98615024e-01 -3.44908658e-03 -7.63396446e-01] [-3.94382634e-02 1.37784166e-03 9.99221059e-01 -5.15572567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.77, Z:-0.52 [[ 9.97994906e-01 4.93161879e-02 3.96747006e-02 1.49769823e+01] [-4.92162648e-02 9.98782041e-01 -3.49192779e-03 -7.65831676e-01] [-3.97985870e-02 1.53228558e-03 9.99206548e-01 -5.17408026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.77, Z:-0.52 [[ 9.98073612e-01 4.74408980e-02 3.99803188e-02 1.50100839e+01] [-4.73375108e-02 9.98872717e-01 -3.52919566e-03 -7.68643502e-01] [-4.01026779e-02 1.62982829e-03 9.99194235e-01 -5.18862545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.78, Z:-0.51 [[ 0.99837934 0.04237684 0.03798554 15.03836247] [-0.04310182 0.99889987 0.01847397 -0.77933885] [-0.03716089 -0.02008128 0.99910751 -0.5076579 ] [ 0. 0. 0. 1. ]] SLAMing on 15.873617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.76, Z:-0.53 [[ 0.99831384 0.04370626 0.03820004 15.07500766] [-0.0427596 0.99876608 -0.02525731 -0.76429744] [-0.03925681 0.02358131 0.99895086 -0.5298492 ] [ 0. 0. 0. 1. ]] SLAMing on 15.903617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.79, Z:-0.51 [[ 0.99848038 0.0399219 0.03798899 15.1030147 ] [-0.04070603 0.99896905 0.02009623 -0.78776431] [-0.03714755 -0.02161207 0.99907606 -0.50908551] [ 0. 0. 0. 1. ]] SLAMing on 15.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.77, Z:-0.53 [[ 0.99832398 0.04281072 0.0389419 15.13873276] [-0.04177218 0.99875949 -0.02710291 -0.76907252] [-0.04005388 0.0254308 0.99887385 -0.53381981] [ 0. 0. 0. 1. ]] SLAMing on 15.963617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.78, Z:-0.53 [[ 9.98400140e-01 4.23144971e-02 3.75052423e-02 1.51717109e+01] [-4.18523940e-02 9.99038940e-01 -1.30220282e-02 -7.78798936e-01] [-3.80202181e-02 1.14315106e-02 9.99211581e-01 -5.30721064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.993617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.79, Z:-0.53 [[ 9.98249562e-01 4.17102376e-02 4.19293317e-02 1.52034122e+01] [-4.19838083e-02 9.99102231e-01 5.66493258e-03 -7.90038622e-01] [-4.16554032e-02 -7.41536949e-03 9.99104519e-01 -5.25104236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.79, Z:-0.52 [[ 9.98421179e-01 4.19376375e-02 3.73682077e-02 1.52320143e+01] [-4.25225168e-02 9.98982951e-01 1.49966096e-02 -7.94327978e-01] [-3.67012801e-02 -1.65619228e-02 9.99189031e-01 -5.18040174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.053617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.78, Z:-0.54 [[ 0.99824105 0.0438767 0.03987033 15.26825294] [-0.04302749 0.99883353 -0.02191399 -0.77984755] [-0.04078533 0.02015992 0.99896453 -0.53860598] [ 0. 0. 0. 1. ]] SLAMing on 16.083617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.79, Z:-0.53 [[ 9.98132200e-01 4.48250440e-02 4.15069487e-02 1.53006592e+01] [-4.47073987e-02 9.98993053e-01 -3.75872755e-03 -7.91264826e-01] [-4.16336385e-02 1.89603930e-03 9.99131145e-01 -5.33018010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.113617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.79, Z:-0.53 [[ 9.98090426e-01 4.58408256e-02 4.14019259e-02 1.53334100e+01] [-4.57241881e-02 9.98947025e-01 -3.76025974e-03 -7.93494070e-01] [-4.15307041e-02 1.86000980e-03 9.99135497e-01 -5.33905869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.80, Z:-0.54 [[ 9.98028950e-01 4.69603810e-02 4.16285563e-02 1.53666066e+01] [-4.68429630e-02 9.98895068e-01 -3.79210265e-03 -7.95408312e-01] [-4.17606381e-02 1.83462331e-03 9.99125960e-01 -5.35126735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.80, Z:-0.54 [[ 9.97948915e-01 4.88472764e-02 4.13752022e-02 1.53999916e+01] [-4.87324393e-02 9.98804715e-01 -3.78016687e-03 -7.95642462e-01] [-4.15103979e-02 1.75609890e-03 9.99136529e-01 -5.36624953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.80, Z:-0.54 [[ 9.97936949e-01 4.95837205e-02 4.07835932e-02 1.54315910e+01] [-4.94723090e-02 9.98768504e-01 -3.73712120e-03 -7.97258264e-01] [-4.09186687e-02 1.71175280e-03 9.99161014e-01 -5.38209702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.233617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.80, Z:-0.54 [[ 9.97945725e-01 4.98894978e-02 4.01916372e-02 1.54633242e+01] [-4.97811387e-02 9.98753323e-01 -3.69298647e-03 -7.98754288e-01] [-4.03257724e-02 1.68461459e-03 9.99185165e-01 -5.39847047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.80, Z:-0.54 [[ 9.98015321e-01 4.91647234e-02 3.93478007e-02 1.54962533e+01] [-4.90599349e-02 9.98789259e-01 -3.62487713e-03 -7.99321514e-01] [-3.94783767e-02 1.68728237e-03 9.99219000e-01 -5.41573965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.293617864999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.80, Z:-0.54 [[ 9.98038545e-01 4.84772227e-02 3.96108850e-02 1.55293470e+01] [-4.83700430e-02 9.98822778e-01 -3.66027882e-03 -8.01921046e-01] [-3.97416943e-02 1.73711913e-03 9.99208477e-01 -5.42999261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.81, Z:-0.54 [[ 9.98032641e-01 4.85994186e-02 3.96098999e-02 1.55626377e+01] [-4.84919139e-02 9.98816829e-01 -3.67090900e-03 -8.05079516e-01] [-3.97414387e-02 1.74292714e-03 9.99208477e-01 -5.44249377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.353617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.81, Z:-0.54 [[ 9.98098576e-01 4.75296669e-02 3.92449226e-02 1.55946077e+01] [-4.74231099e-02 9.98868251e-01 -3.64217357e-03 -8.08182218e-01] [-3.93736185e-02 1.77413197e-03 9.99222983e-01 -5.44411893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.82, Z:-0.54 [[ 9.98356874e-01 4.29711617e-02 3.79081853e-02 1.56249055e+01] [-4.34759900e-02 9.98975084e-01 1.25944744e-02 -8.17228111e-01] [-3.73281334e-02 -1.42218760e-02 9.99201856e-01 -5.35423303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.80, Z:-0.55 [[ 0.99829707 0.04360948 0.03874501 15.65803424] [-0.04286542 0.998884 -0.01983206 -0.80324164] [-0.03956664 0.01813747 0.99905231 -0.5514273 ] [ 0. 0. 0. 1. ]] SLAMing on 16.443617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.81, Z:-0.55 [[ 9.98295015e-01 4.19921192e-02 4.05428819e-02 1.56905200e+01] [-4.18730232e-02 9.99115780e-01 -3.78262626e-03 -8.13426571e-01] [-4.06658736e-02 2.07852390e-03 9.99170639e-01 -5.47018914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.473617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.82, Z:-0.55 [[ 9.98321525e-01 4.10196531e-02 4.08842470e-02 1.57225865e+01] [-4.08972615e-02 9.99156032e-01 -3.82585855e-03 -8.15397624e-01] [-4.10066774e-02 2.14738319e-03 9.99156565e-01 -5.48427839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.82, Z:-0.55 [[ 9.98379250e-01 3.96321258e-02 4.08432157e-02 1.57551753e+01] [-3.95083878e-02 9.99211889e-01 -3.83262398e-03 -8.17530511e-01] [-4.09629217e-02 2.21276265e-03 9.99158217e-01 -5.49883417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.533617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.82, Z:-0.55 [[ 9.98505981e-01 3.73763271e-02 3.98599639e-02 1.57880867e+01] [-3.72562623e-02 9.99298705e-01 -3.75099495e-03 -8.17580672e-01] [-3.99722087e-02 2.26035762e-03 9.99198235e-01 -5.51794484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.82, Z:-0.55 [[ 9.98552713e-01 3.82107388e-02 3.78473184e-02 1.58212181e+01] [-3.81027232e-02 9.99267445e-01 -3.57144659e-03 -8.21251310e-01] [-3.79560608e-02 2.12419178e-03 9.99277151e-01 -5.50463698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.593617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.82, Z:-0.55 [[ 9.98383178e-01 3.97226068e-02 4.06588723e-02 1.58539077e+01] [-3.95986991e-02 9.99208252e-01 -3.84864232e-03 -8.24727759e-01] [-4.07795588e-02 2.23238130e-03 9.99165674e-01 -5.53619413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.83, Z:-0.55 [[ 9.98367332e-01 4.02713012e-02 4.05079324e-02 1.58854814e+01] [-4.01483295e-02 9.99186333e-01 -3.84500437e-03 -8.27214462e-01] [-4.06298157e-02 2.21240093e-03 9.99171819e-01 -5.54463734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.653617864999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.83, Z:-0.56 [[ 9.98313777e-01 4.11807349e-02 4.09114867e-02 1.59182234e+01] [-4.10557582e-02 9.99149282e-01 -3.89066000e-03 -8.29558624e-01] [-4.10369028e-02 2.20444737e-03 9.99155200e-01 -5.55657343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.84, Z:-0.55 [[ 9.98362154e-01 4.13453037e-02 3.95420628e-02 1.59494535e+01] [-4.17844294e-02 9.99073105e-01 1.03437203e-02 -8.38203427e-01] [-3.90777472e-02 -1.19790214e-02 9.99164367e-01 -5.48347313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.84, Z:-0.55 [[ 9.98187145e-01 4.64359031e-02 3.82900791e-02 1.59816085e+01] [-4.67668087e-02 9.98875445e-01 7.79167357e-03 -8.39374012e-01] [-3.78852064e-02 -9.56825320e-03 9.99236288e-01 -5.47119445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.84, Z:-0.55 [[ 9.98082840e-01 4.97724118e-02 3.67879332e-02 1.60149891e+01] [-4.97375163e-02 9.98760585e-01 -1.86370032e-03 -8.37197131e-01] [-3.68350985e-02 3.03868794e-05 9.99321357e-01 -5.50902043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.773617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.83, Z:-0.56 [[ 9.97939204e-01 5.16936196e-02 3.80146644e-02 1.60459422e+01] [-5.13528438e-02 9.98631626e-01 -9.88742866e-03 -8.33883559e-01] [-3.84737631e-02 7.91489156e-03 9.99228264e-01 -5.57248974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.83, Z:-0.57 [[ 0.9975995 0.05620601 0.04044909 16.07913189] [-0.05523864 0.99816887 -0.02464944 -0.82928175] [-0.04176047 0.02235592 0.99887751 -0.56841933] [ 0. 0. 0. 1. ]] SLAMing on 16.833617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.85, Z:-0.55 [[ 0.99748981 0.0590691 0.03905029 16.10962375] [-0.05982067 0.99804018 0.01836527 -0.85128324] [-0.03788894 -0.02065518 0.99906846 -0.55088675] [ 0. 0. 0. 1. ]] SLAMing on 16.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.84, Z:-0.56 [[ 9.97408387e-01 6.29917425e-02 3.47642108e-02 1.61430325e+01] [-6.29096875e-02 9.98013260e-01 -3.45022589e-03 -8.43050354e-01] [-3.49124790e-02 1.25427861e-03 9.99389586e-01 -5.59028500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.84, Z:-0.56 [[ 9.97255385e-01 6.51685909e-02 3.51390310e-02 1.61744765e+01] [-6.50593687e-02 9.97872370e-01 -4.24401074e-03 -8.44760053e-01] [-3.53408443e-02 1.94623939e-03 9.99373422e-01 -5.61374634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.84, Z:-0.58 [[ 0.99677734 0.0702327 0.03875944 16.20803257] [-0.06926091 0.99726305 -0.02587142 -0.83828702] [-0.04047038 0.02310353 0.9989136 -0.57554367] [ 0. 0. 0. 1. ]] SLAMing on 16.953617864999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.87, Z:-0.55 [[ 0.99688805 0.06895296 0.03820606 16.23720506] [-0.06990399 0.99726158 0.0241405 -0.86695453] [-0.03643687 -0.02673613 0.99897824 -0.55189541] [ 0. 0. 0. 1. ]] SLAMing on 16.983617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.84, Z:-0.58 [[ 0.99661463 0.07259162 0.03859714 16.27089865] [-0.07137478 0.99693538 -0.03202338 -0.84238973] [-0.04080348 0.02916011 0.99874159 -0.57994801] [ 0. 0. 0. 1. ]] SLAMing on 17.013617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.86, Z:-0.57 [[ 9.96532689e-01 7.20786971e-02 4.15603223e-02 1.63026219e+01] [-7.19723641e-02 9.97398400e-01 -4.05106537e-03 -8.60836024e-01] [-4.17441945e-02 1.04582442e-03 9.99127784e-01 -5.72187379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.87, Z:-0.57 [[ 9.96517218e-01 7.23630146e-02 4.14370351e-02 1.63345660e+01] [-7.22570830e-02 9.97377816e-01 -4.05043577e-03 -8.66017771e-01] [-4.16214813e-02 1.04220970e-03 9.99132907e-01 -5.73375998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.87, Z:-0.57 [[ 9.96520430e-01 7.24957678e-02 4.11265852e-02 1.63660915e+01] [-7.23910975e-02 9.97368178e-01 -4.03058664e-03 -8.70675981e-01] [-4.13105479e-02 1.03936329e-03 9.99145814e-01 -5.74885827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.88, Z:-0.58 [[ 9.96537751e-01 7.24609105e-02 4.07667504e-02 1.63983036e+01] [-7.23576171e-02 9.97370709e-01 -4.00553586e-03 -8.75275791e-01] [-4.09498076e-02 1.04188277e-03 9.99160662e-01 -5.76243918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133617864999998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.88, Z:-0.58 [[ 9.96699151e-01 7.09474176e-02 3.94622246e-02 1.64293582e+01] [-7.08490377e-02 9.97479473e-01 -3.88769379e-03 -8.81121479e-01] [-3.96385808e-02 1.07900046e-03 9.99213500e-01 -5.78476354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.89, Z:-0.58 [[ 9.96806919e-01 6.96579280e-02 3.90351017e-02 1.64616882e+01] [-6.95602991e-02 9.97570299e-01 -3.85531565e-03 -8.85968271e-01] [-3.92088114e-02 1.12771196e-03 9.99230403e-01 -5.79837477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.193617864999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.89, Z:-0.58 [[ 9.96906898e-01 6.80368456e-02 3.93398509e-02 1.64940843e+01] [-6.79360074e-02 9.97682074e-01 -3.89596812e-03 -8.91069377e-01] [-3.95137334e-02 1.21132510e-03 9.99218293e-01 -5.81523232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.90, Z:-0.58 [[ 9.97032225e-01 6.61194577e-02 3.94329802e-02 1.65267179e+01] [-6.60162294e-02 9.97810866e-01 -3.91563867e-03 -8.96440672e-01] [-3.96055560e-02 1.30080127e-03 9.99214545e-01 -5.82706442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.253617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.90, Z:-0.58 [[ 9.97285387e-01 6.21672411e-02 3.94599948e-02 1.65579778e+01] [-6.20603683e-02 9.98064665e-01 -3.92874577e-03 -9.04823457e-01] [-3.96278658e-02 1.46917893e-03 9.99213428e-01 -5.83833056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.91, Z:-0.59 [[ 9.97397278e-01 6.03303937e-02 3.94830893e-02 1.65906880e+01] [-6.02215743e-02 9.98177255e-01 -3.94073769e-03 -9.11038408e-01] [-3.96488680e-02 1.55274725e-03 9.99212468e-01 -5.85057781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.92, Z:-0.59 [[ 9.97500357e-01 5.88255967e-02 3.91482681e-02 1.66226985e+01] [-5.87170626e-02 9.98266979e-01 -3.91740980e-03 -9.17010645e-01] [-3.93108673e-02 1.60894636e-03 9.99225734e-01 -5.86056945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.92, Z:-0.59 [[ 9.97627835e-01 5.66812443e-02 3.90632713e-02 1.66537346e+01] [-5.65711113e-02 9.98390877e-01 -3.91984399e-03 -9.24304233e-01] [-3.92225953e-02 1.70069280e-03 9.99229051e-01 -5.87599325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.93, Z:-0.59 [[ 9.97635189e-01 5.68042175e-02 3.86950907e-02 1.66864327e+01] [-5.66958567e-02 9.98383907e-01 -3.89286689e-03 -9.29699650e-01] [-3.88536871e-02 1.68980967e-03 9.99243482e-01 -5.89259755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.94, Z:-0.59 [[ 9.97641957e-01 5.76345358e-02 3.72664233e-02 1.67179913e+01] [-5.75342364e-02 9.98336457e-01 -3.75914944e-03 -9.37211247e-01] [-3.74210858e-02 1.60618999e-03 9.99298295e-01 -5.90373703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.94, Z:-0.59 [[ 9.97577756e-01 5.87769886e-02 3.72006283e-02 1.67492683e+01] [-5.86774752e-02 9.98269903e-01 -3.76215937e-03 -9.42370426e-01] [-3.73573960e-02 1.57020756e-03 9.99300735e-01 -5.91646592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.95, Z:-0.59 [[ 9.97476530e-01 6.04407750e-02 3.72489591e-02 1.67813135e+01] [-6.03418148e-02 9.98170629e-01 -3.77627573e-03 -9.47728030e-01] [-3.74090580e-02 1.51907662e-03 9.99298882e-01 -5.92684890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.493617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.96, Z:-0.59 [[ 9.97285994e-01 6.34984669e-02 3.72638132e-02 1.68131336e+01] [-6.34011730e-02 9.97980933e-01 -3.78805452e-03 -9.55517488e-01] [-3.74291107e-02 1.41520425e-03 9.99298283e-01 -5.93277585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.96, Z:-0.59 [[ 9.97194185e-01 6.51266252e-02 3.69090753e-02 1.68460498e+01] [-6.50319169e-02 9.97876093e-01 -3.76202800e-03 -9.60906061e-01] [-3.70756920e-02 1.35120453e-03 9.99311547e-01 -5.94212953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.553617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.97, Z:-0.60 [[ 9.97116917e-01 6.65808157e-02 3.63984672e-02 1.68780278e+01] [-6.64893049e-02 9.97780203e-01 -3.72018525e-03 -9.65280351e-01] [-3.65653630e-02 1.28935086e-03 9.99330432e-01 -5.95702062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.97, Z:-0.60 [[ 9.96941874e-01 6.97161960e-02 3.53065432e-02 1.69097345e+01] [-6.96318661e-02 9.97566209e-01 -3.61401298e-03 -9.71495510e-01] [-3.54725697e-02 1.14450038e-03 9.99369995e-01 -5.97970953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.98, Z:-0.60 [[ 9.96873579e-01 7.09511174e-02 3.47707754e-02 1.69419315e+01] [-7.08697777e-02 9.97479196e-01 -3.56778188e-03 -9.77007459e-01] [-3.49362632e-02 1.09243037e-03 9.99388945e-01 -5.99271782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.98, Z:-0.60 [[ 9.96748649e-01 7.27029235e-02 3.47334858e-02 1.69747200e+01] [-7.26225036e-02 9.97353100e-01 -3.57302845e-03 -9.81598964e-01] [-3.49013193e-02 1.03897858e-03 9.99390223e-01 -5.99738297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.673617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.98, Z:-0.61 [[ 9.96621175e-01 7.53735254e-02 3.26353314e-02 1.70094855e+01] [-7.50025731e-02 9.97105653e-01 -1.24471142e-02 -9.80045593e-01] [-3.34790563e-02 9.95732374e-03 9.99389816e-01 -6.05325973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.99, Z:-0.60 [[ 9.96328057e-01 7.73522634e-02 3.67019076e-02 1.70382283e+01] [-7.75961521e-02 9.96970967e-01 5.26573874e-03 -9.93462973e-01] [-3.61834195e-02 -8.09433005e-03 9.99312385e-01 -5.98690772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.733617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.99, Z:-0.60 [[ 9.96001117e-01 8.18043974e-02 3.59140107e-02 1.70710558e+01] [-8.17235493e-02 9.96648109e-01 -3.71586617e-03 -9.93427424e-01] [-3.60976050e-02 7.65986434e-04 9.99347976e-01 -6.02746410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.00, Z:-0.60 [[ 9.95889311e-01 8.32668046e-02 3.56527742e-02 1.71030359e+01] [-8.31877114e-02 9.96527031e-01 -3.69870270e-03 -9.97182258e-01] [-3.58369324e-02 7.17625790e-04 9.99357393e-01 -6.04308350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.01, Z:-0.60 [[ 9.96095016e-01 8.09766079e-02 3.51782452e-02 1.71302478e+01] [-8.14937543e-02 9.96582120e-01 1.35220759e-02 -1.00520334e+00] [-3.39630383e-02 -1.63360797e-02 9.99289570e-01 -5.95903592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.00, Z:-0.61 [[ 0.99560761 0.08736596 0.03365523 17.16719247] [-0.08671388 0.99602491 -0.02037361 -0.99564665] [-0.0353014 0.01736575 0.99922582 -0.61359697] [ 0. 0. 0. 1. ]] SLAMing on 17.853617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.01, Z:-0.61 [[ 9.95503136e-01 8.79110150e-02 3.52868154e-02 1.71993470e+01] [-8.78358155e-02 9.96128173e-01 -3.67868166e-03 -1.00669958e+00] [-3.54735876e-02 5.62692918e-04 9.99370456e-01 -6.08485983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.01, Z:-0.61 [[ 9.95430891e-01 8.87873838e-02 3.51303510e-02 1.72311648e+01] [-8.87130530e-02 9.96050456e-01 -3.67205920e-03 -1.00890332e+00] [-3.53176346e-02 5.38760477e-04 9.99375993e-01 -6.10586454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.01, Z:-0.61 [[ 9.95580875e-01 8.77343809e-02 3.34873151e-02 1.72624298e+01] [-8.76659743e-02 9.96143749e-01 -3.50842338e-03 -1.01292497e+00] [-3.36659890e-02 5.57221109e-04 9.99432985e-01 -6.12302606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.02, Z:-0.61 [[ 9.95664288e-01 8.67413231e-02 3.35941776e-02 1.72948177e+01] [-8.66716270e-02 9.96230687e-01 -3.52811488e-03 -1.01637371e+00] [-3.37735840e-02 6.01155958e-04 9.99429329e-01 -6.13363845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.02, Z:-0.61 [[ 9.96016749e-01 8.17740885e-02 3.55476204e-02 1.73220356e+01] [-8.20250401e-02 9.96614213e-01 5.65705662e-03 -1.01768762e+00] [-3.49646631e-02 -8.55031814e-03 9.99351972e-01 -6.11440781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.02, Z:-0.62 [[ 9.95903611e-01 8.41279585e-02 3.31434017e-02 1.73587817e+01] [-8.37546243e-02 9.96408025e-01 -1.24984238e-02 -1.01727929e+00] [-3.40758183e-02 9.67131222e-03 9.99372455e-01 -6.19959532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.03, Z:-0.62 [[ 9.96048871e-01 8.21868002e-02 3.36448545e-02 1.73907943e+01] [-8.21133493e-02 9.96616634e-01 -3.56141620e-03 -1.02559831e+00] [-3.38237230e-02 7.84652901e-04 9.99427506e-01 -6.17243917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.03, Z:-0.62 [[ 9.96432326e-01 7.62111368e-02 3.62557840e-02 1.74171822e+01] [-7.63300942e-02 9.97080780e-01 1.90627614e-03 -1.02505480e+00] [-3.60046660e-02 -4.66688258e-03 9.99340725e-01 -6.18553303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093617864999995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.03, Z:-0.62 [[ 9.96602672e-01 7.40045493e-02 3.61447254e-02 1.74485206e+01] [-7.43549901e-02 9.97196055e-01 8.44762846e-03 -1.03157948e+00] [-3.54182146e-02 -1.11064698e-02 9.99310861e-01 -6.15031737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.03, Z:-0.63 [[ 9.96325991e-01 7.88860655e-02 3.33393037e-02 1.74868858e+01] [-7.82471811e-02 9.96732269e-01 -2.00540133e-02 -1.02646313e+00] [-3.48123420e-02 1.73716281e-02 9.99242877e-01 -6.28251228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153617864999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.04, Z:-0.62 [[ 9.96406213e-01 7.72147955e-02 3.48214655e-02 1.75192149e+01] [-7.71309132e-02 9.97013930e-01 -3.74784647e-03 -1.03817315e+00] [-3.50068754e-02 1.04856607e-03 9.99386521e-01 -6.23766689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617864999995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.05, Z:-0.61 [[ 0.99681992 0.07195702 0.03423794 17.54581155] [-0.07294522 0.99692737 0.02854505 -1.05138582] [-0.03207872 -0.03095177 0.99900598 -0.60657981] [ 0. 0. 0. 1. ]] SLAMing on 18.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.03, Z:-0.64 [[ 0.99652445 0.0768297 0.03219028 17.58374204] [-0.07566823 0.99648772 -0.03586837 -1.0260635 ] [-0.03483298 0.03330792 0.99883795 -0.63940989] [ 0. 0. 0. 1. ]] SLAMing on 18.243617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.05, Z:-0.63 [[ 9.96493664e-01 7.56786814e-02 3.56807475e-02 1.76156481e+01] [-7.55886569e-02 9.97131586e-01 -3.86723809e-03 -1.04663031e+00] [-3.58710678e-02 1.15661847e-03 9.99355757e-01 -6.28634268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.273617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.06, Z:-0.61 [[ 0.99687291 0.07160503 0.03342343 17.64151463] [-0.07265758 0.99686204 0.03141591 -1.06391107] [-0.03106901 -0.03374614 0.9989474 -0.60804735] [ 0. 0. 0. 1. ]] SLAMing on 18.303617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.04, Z:-0.64 [[ 0.996527 0.07750794 0.0304379 17.6795109 ] [-0.07632341 0.99634643 -0.03832151 -1.03514331] [-0.03329691 0.03586529 0.99880178 -0.64430394] [ 0. 0. 0. 1. ]] SLAMing on 18.333617864999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.08, Z:-0.60 [[ 0.99683657 0.07390275 0.02924441 17.70557718] [-0.0753712 0.99575769 0.05278067 -1.08205299] [-0.02521971 -0.05481789 0.99817782 -0.59599268] [ 0. 0. 0. 1. ]] SLAMing on 18.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.03, Z:-0.66 [[ 0.99636881 0.08046923 0.02781913 17.74323517] [-0.0787052 0.99511713 -0.05956005 -1.02925438] [-0.03247604 0.05715426 0.99783701 -0.65544171] [ 0. 0. 0. 1. ]] SLAMing on 18.393617864999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.06, Z:-0.64 [[ 9.96242879e-01 7.97113891e-02 3.38558656e-02 1.77723256e+01] [-7.96317722e-02 9.96817497e-01 -3.69570803e-03 -1.06186904e+00] [-3.40427093e-02 9.85820227e-04 9.99419893e-01 -6.35704295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.06, Z:-0.64 [[ 9.96007591e-01 8.26379706e-02 3.37615912e-02 1.78038146e+01] [-8.25603035e-02 9.96579237e-01 -3.69048907e-03 -1.06317894e+00] [-3.39510753e-02 8.88387913e-04 9.99423101e-01 -6.37196054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.453617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.07, Z:-0.64 [[ 9.95894662e-01 8.38887998e-02 3.40072338e-02 1.78364416e+01] [-8.38104332e-02 9.96474751e-01 -3.72590767e-03 -1.06573640e+00] [-3.41999118e-02 8.60450559e-04 9.99414642e-01 -6.38575069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.10, Z:-0.60 [[ 0.99614612 0.08301322 0.02831471 17.86578247] [-0.08437273 0.99513948 0.05078052 -1.09551576] [-0.02396163 -0.05297381 0.99830838 -0.60162104] [ 0. 0. 0. 1. ]] SLAMing on 18.513617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.04, Z:-0.66 [[ 0.99578132 0.08743721 0.02782617 17.90103835] [-0.08575152 0.99469062 -0.05689675 -1.04454069] [-0.03265332 0.05427059 0.99799222 -0.65950383] [ 0. 0. 0. 1. ]] SLAMing on 18.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.08, Z:-0.64 [[ 9.95763164e-01 8.56343828e-02 3.35033332e-02 1.79315256e+01] [-8.55588354e-02 9.96326306e-01 -3.68475562e-03 -1.07697611e+00] [-3.36957940e-02 8.02637745e-04 9.99431813e-01 -6.40804818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.08, Z:-0.64 [[ 9.95774436e-01 8.55593546e-02 3.33596909e-02 1.79644196e+01] [-8.54841197e-02 9.96332746e-01 -3.67765975e-03 -1.08111275e+00] [-3.35520106e-02 8.10395757e-04 9.99436644e-01 -6.42281495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.10, Z:-0.62 [[ 0.99618735 0.08165457 0.03071323 17.99179226] [-0.08244016 0.99627624 0.02524429 -1.09737415] [-0.02853755 -0.02768004 0.9992094 -0.62302024] [ 0. 0. 0. 1. ]] SLAMing on 18.633617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.08, Z:-0.66 [[ 0.99597747 0.08439991 0.03009217 18.02884149] [-0.08343435 0.99599879 -0.03201765 -1.07544727] [-0.03267405 0.02937814 0.9990342 -0.65600423] [ 0. 0. 0. 1. ]] SLAMing on 18.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.09, Z:-0.65 [[ 9.95965120e-01 8.33516097e-02 3.32564237e-02 1.80608708e+01] [-8.32746927e-02 9.96519785e-01 -3.69368958e-03 -1.09406702e+00] [-3.34485592e-02 9.09367520e-04 9.99440027e-01 -6.46715970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.10, Z:-0.65 [[ 9.96004360e-01 8.27279248e-02 3.36363671e-02 1.80938924e+01] [-8.26487931e-02 9.96571723e-01 -3.73858265e-03 -1.09824678e+00] [-3.38303375e-02 9.43639469e-04 9.99427145e-01 -6.48648487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.10, Z:-0.65 [[ 9.96068892e-01 8.20980182e-02 3.32667541e-02 1.81260271e+01] [-8.20199643e-02 9.96623794e-01 -3.70650557e-03 -1.10291572e+00] [-3.34587355e-02 9.63396909e-04 9.99439635e-01 -6.49903201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.12, Z:-0.63 [[ 0.99616728 0.08144193 0.03190553 18.15644526] [-0.08208877 0.99643393 0.01951535 -1.11904011] [-0.03020239 -0.02205964 0.99930035 -0.63342509] [ 0. 0. 0. 1. ]] SLAMing on 18.783617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.10, Z:-0.66 [[ 0.99596641 0.08412084 0.03121856 18.18976017] [-0.0833057 0.99617018 -0.0265544 -1.09987643] [-0.03333278 0.02384661 0.99915978 -0.66008778] [ 0. 0. 0. 1. ]] SLAMing on 18.813617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.12, Z:-0.65 [[ 9.95896882e-01 8.44523858e-02 3.25145196e-02 1.82219254e+01] [-8.43784445e-02 9.96427124e-01 -3.64200665e-03 -1.11616856e+00] [-3.27059254e-02 8.83538478e-04 9.99464628e-01 -6.51824531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.12, Z:-0.65 [[ 9.95843164e-01 8.51133216e-02 3.24363204e-02 1.82534395e+01] [-8.50397616e-02 9.96370898e-01 -3.64317913e-03 -1.11884841e+00] [-3.26286888e-02 8.69658073e-04 9.99467164e-01 -6.53741500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.873617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.12, Z:-0.66 [[ 9.95844384e-01 8.61472017e-02 2.95401750e-02 1.82863809e+01] [-8.59340931e-02 9.96265313e-01 -8.41176121e-03 -1.12016787e+00] [-3.01545014e-02 5.83829702e-03 9.99528199e-01 -6.57521016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.13, Z:-0.65 [[ 9.95717004e-01 8.68885450e-02 3.15916041e-02 1.83173086e+01] [-8.69803481e-02 9.96208836e-01 1.54076730e-03 -1.12847694e+00] [-3.13379602e-02 -4.28201692e-03 9.99499673e-01 -6.54463700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.13, Z:-0.66 [[ 9.95692472e-01 8.70938003e-02 3.17989278e-02 1.83493782e+01] [-8.70235790e-02 9.96199790e-01 -3.58826688e-03 -1.12823997e+00] [-3.19906010e-02 8.05553811e-04 9.99487845e-01 -6.57321359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.13, Z:-0.66 [[ 9.95697355e-01 8.76227341e-02 3.01501747e-02 1.83813433e+01] [-8.74505913e-02 9.96144375e-01 -6.98408185e-03 -1.13027694e+00] [-3.06458913e-02 4.31738122e-03 9.99520980e-01 -6.59554581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.993617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.14, Z:-0.66 [[ 9.95914312e-01 8.43097000e-02 3.23505478e-02 1.84123903e+01] [-8.43525619e-02 9.96435971e-01 -4.00038754e-05 -1.13684373e+00] [-3.22386222e-02 -2.68901115e-03 9.99476583e-01 -6.57650530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.14, Z:-0.66 [[ 9.96031500e-01 8.30860926e-02 3.19053695e-02 1.84457591e+01] [-8.30128071e-02 9.96541916e-01 -3.61704426e-03 -1.13781541e+00] [-3.20955641e-02 9.54135738e-04 9.99484349e-01 -6.60493505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.053617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.14, Z:-0.66 [[ 9.96157154e-01 8.15042346e-02 3.20622053e-02 1.84773965e+01] [-8.14291022e-02 9.96672474e-01 -3.64430618e-03 -1.14066405e+00] [-3.22525438e-02 1.01950508e-03 9.99479231e-01 -6.62146998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.14, Z:-0.66 [[ 9.96433661e-01 7.81291547e-02 3.18715380e-02 1.85087445e+01] [-7.80530240e-02 9.96942609e-01 -3.62777825e-03 -1.14453921e+00] [-3.20575295e-02 1.12717044e-03 9.99485390e-01 -6.63083459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.15, Z:-0.66 [[ 9.96546865e-01 7.67330977e-02 3.17234704e-02 1.85418025e+01] [-7.66568435e-02 9.97050982e-01 -3.61478207e-03 -1.14826125e+00] [-3.19072907e-02 1.17047864e-03 9.99490147e-01 -6.64189339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.15, Z:-0.67 [[ 9.96648530e-01 7.54732866e-02 3.15513939e-02 1.85731498e+01] [-7.53969505e-02 9.97147086e-01 -3.60389778e-03 -1.15173411e+00] [-3.17333785e-02 1.21294055e-03 9.99495634e-01 -6.65361256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.16, Z:-0.67 [[ 9.96745229e-01 7.41786560e-02 3.15670143e-02 1.86056825e+01] [-7.41013521e-02 9.97244169e-01 -3.61336386e-03 -1.15507238e+00] [-3.17480554e-02 1.26244475e-03 9.99495106e-01 -6.66904120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.16, Z:-0.67 [[ 9.96910309e-01 7.22865208e-02 3.07326226e-02 1.86370267e+01] [-7.22120890e-02 9.97383065e-01 -3.52640705e-03 -1.15785983e+00] [-3.09071090e-02 1.29624467e-03 9.99521421e-01 -6.68515052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.16, Z:-0.67 [[ 9.96947449e-01 7.19529444e-02 3.03077230e-02 1.86692185e+01] [-7.18801652e-02 9.97407185e-01 -3.48546376e-03 -1.16096705e+00] [-3.04799301e-02 1.29630006e-03 9.99534538e-01 -6.70008673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.16, Z:-0.67 [[ 9.96958630e-01 7.20215905e-02 2.97721329e-02 1.87020006e+01] [-7.19511729e-02 9.97402254e-01 -3.43119182e-03 -1.16433583e+00] [-2.99419123e-02 1.27861642e-03 9.99550823e-01 -6.71439194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.17, Z:-0.67 [[ 9.96992113e-01 7.19453593e-02 2.88199780e-02 1.87343384e+01] [-7.18791246e-02 9.97407795e-01 -3.32900291e-03 -1.16895155e+00] [-2.89847770e-02 1.24743485e-03 9.99579075e-01 -6.71439172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.17, Z:-0.67 [[ 9.96962833e-01 7.20465694e-02 2.95702850e-02 1.87657013e+01] [-7.19766221e-02 9.97400441e-01 -3.42448488e-03 -1.17276875e+00] [-2.97401377e-02 1.28571492e-03 9.99556837e-01 -6.72731697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.353617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.18, Z:-0.67 [[ 9.96943597e-01 7.22474217e-02 2.97283531e-02 1.87980874e+01] [-7.21765863e-02 9.97385901e-01 -3.45038493e-03 -1.17620171e+00] [-2.98999217e-02 1.29414811e-03 9.99552060e-01 -6.73855408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.18, Z:-0.68 [[ 9.96825437e-01 7.36402838e-02 3.02680920e-02 1.88307229e+01] [-7.35672323e-02 9.97284042e-01 -3.52157834e-03 -1.17844879e+00] [-3.04452152e-02 1.28365912e-03 9.99535613e-01 -6.75380075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.413617864999996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.18, Z:-0.68 [[ 9.96728061e-01 7.49408750e-02 3.02826311e-02 1.88632964e+01] [-7.48681009e-02 9.97187192e-01 -3.53151954e-03 -1.18175971e+00] [-3.04621070e-02 1.25276154e-03 9.99535137e-01 -6.76870301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.19, Z:-0.68 [[ 9.96566805e-01 7.69482190e-02 3.05544446e-02 1.88948431e+01] [-7.68747718e-02 9.97034354e-01 -3.57303419e-03 -1.18524578e+00] [-3.07387695e-02 1.21190132e-03 9.99526718e-01 -6.77724695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.473617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.19, Z:-0.68 [[ 9.96488847e-01 7.78237240e-02 3.08779065e-02 1.89279646e+01] [-7.77490012e-02 9.96966411e-01 -3.61508137e-03 -1.18874840e+00] [-3.10655747e-02 1.20166188e-03 9.99516626e-01 -6.78772147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.19, Z:-0.68 [[ 9.96550635e-01 7.81106325e-02 2.80278431e-02 1.89613197e+01] [-7.78230036e-02 9.96904143e-01 -1.12120433e-02 -1.18819520e+00] [-2.88168527e-02 8.99215798e-03 9.99544261e-01 -6.82987542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.533617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.20, Z:-0.68 [[ 9.96378714e-01 7.87007150e-02 3.21815935e-02 1.89915025e+01] [-7.88717723e-02 9.96876424e-01 4.07896974e-03 -1.19902580e+00] [-3.17600540e-02 -6.60241794e-03 9.99473715e-01 -6.78107102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.19, Z:-0.69 [[ 9.96389853e-01 8.01357293e-02 2.80272488e-02 1.90238359e+01] [-7.98089613e-02 9.96730651e-01 -1.25912611e-02 -1.19312636e+00] [-2.89446278e-02 1.03089792e-02 9.99527855e-01 -6.86350130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.593617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.22, Z:-0.67 [[ 0.9964246 0.07877219 0.03054429 19.05337597] [-0.07959063 0.99647336 0.02657378 -1.21568761] [-0.0283433 -0.02890981 0.9991801 -0.66694484] [ 0. 0. 0. 1. ]] SLAMing on 19.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.21, Z:-0.68 [[ 9.96360671e-01 8.09666587e-02 2.66423364e-02 1.90870972e+01] [-8.10489003e-02 9.96708080e-01 2.01985970e-03 -1.20713571e+00] [-2.63910906e-02 -4.17184084e-03 9.99642989e-01 -6.76556032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.653617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.20, Z:-0.68 [[ 9.96290024e-01 8.18504851e-02 2.65835798e-02 1.91193208e+01] [-8.16999116e-02 9.96634430e-01 -6.70355976e-03 -1.20479057e+00] [-2.70428005e-02 4.50681360e-03 9.99624117e-01 -6.83320768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.20, Z:-0.70 [[ 0.9961979 0.08303641 0.02635706 19.15155402] [-0.08228401 0.99620267 -0.02845322 -1.19706057] [-0.02861962 0.02617627 0.99924758 -0.69829059] [ 0. 0. 0. 1. ]] SLAMing on 19.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.22, Z:-0.69 [[ 9.96381501e-01 7.95589469e-02 2.99044958e-02 1.91833979e+01] [-7.96274227e-02 9.96824084e-01 1.10406784e-03 -1.21721933e+00] [-2.97216832e-02 -3.48129071e-03 9.99552151e-01 -6.88392111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.22, Z:-0.69 [[ 9.96480466e-01 7.86144180e-02 2.90938761e-02 1.92162696e+01] [-7.85471324e-02 9.96904431e-01 -3.45016228e-03 -1.21996432e+00] [-2.92750465e-02 1.15277878e-03 9.99570729e-01 -6.91231677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.773617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.23, Z:-0.69 [[ 9.96727443e-01 7.51025241e-02 2.99000860e-02 1.92458072e+01] [-7.52305263e-02 9.97161105e-01 3.17772115e-03 -1.22561581e+00] [-2.95765480e-02 -5.41672108e-03 9.99547841e-01 -6.89104994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.23, Z:-0.70 [[ 9.96633929e-01 7.67310530e-02 2.88644488e-02 1.92796900e+01] [-7.64711313e-02 9.97021596e-01 -1.00051405e-02 -1.22550142e+00] [-2.95461838e-02 7.76416542e-03 9.99533261e-01 -6.95814696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.833617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.23, Z:-0.70 [[ 9.96686148e-01 7.52444384e-02 3.09030130e-02 1.93112027e+01] [-7.51662177e-02 9.97164203e-01 -3.68677414e-03 -1.23220936e+00] [-3.10927876e-02 1.35169411e-03 9.99515588e-01 -6.95284850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.24, Z:-0.70 [[ 9.96680582e-01 7.53321156e-02 3.08689014e-02 1.93441065e+01] [-7.52539870e-02 9.97157583e-01 -3.68664865e-03 -1.23623149e+00] [-3.10588822e-02 1.35140322e-03 9.99516643e-01 -6.96831783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.893617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.25, Z:-0.69 [[ 9.96728647e-01 7.49947872e-02 3.01294767e-02 1.93760942e+01] [-7.54203297e-02 9.97063886e-01 1.32431528e-02 -1.24953236e+00] [-2.90478457e-02 -1.54722048e-02 9.99458270e-01 -6.87961708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.24, Z:-0.71 [[ 9.96595416e-01 7.74599104e-02 2.82407347e-02 1.94080925e+01] [-7.69018632e-02 9.96831178e-01 -2.03397457e-02 -1.23694893e+00] [-2.97267597e-02 1.80987322e-02 9.99394194e-01 -7.06314834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.953617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.25, Z:-0.70 [[ 9.96486883e-01 7.80441051e-02 3.03810579e-02 1.94384636e+01] [-7.79690946e-02 9.96949103e-01 -3.64768613e-03 -1.24992750e+00] [-3.05730488e-02 1.26608781e-03 9.99531733e-01 -7.01338570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.25, Z:-0.70 [[ 9.96367886e-01 7.93474905e-02 3.09032680e-02 1.94712131e+01] [-7.92702756e-02 9.96846228e-01 -3.71772224e-03 -1.25397052e+00] [-3.11007981e-02 1.25450848e-03 9.99515466e-01 -7.03066284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.013617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.26, Z:-0.70 [[ 9.96075811e-01 8.22934263e-02 3.25694876e-02 1.95027305e+01] [-8.22089046e-02 9.96607378e-01 -3.92804869e-03 -1.25775722e+00] [-3.27822442e-02 1.23513238e-03 9.99461755e-01 -7.04235329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.26, Z:-0.71 [[ 9.95913840e-01 8.40244549e-02 3.30985674e-02 1.95354953e+01] [-8.39378322e-02 9.96462963e-01 -4.00043173e-03 -1.26096211e+00] [-3.33176306e-02 1.20586332e-03 9.99444086e-01 -7.05403498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.26, Z:-0.71 [[ 9.95705647e-01 8.61492606e-02 3.38905503e-02 1.95683081e+01] [-8.60593451e-02 9.96281553e-01 -4.10566629e-03 -1.26422664e+00] [-3.41182302e-02 1.17143654e-03 9.99417117e-01 -7.06873052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.27, Z:-0.71 [[ 9.95535297e-01 8.79259835e-02 3.43292124e-02 1.96005556e+01] [-8.78344377e-02 9.96126364e-01 -4.16867237e-03 -1.26717379e+00] [-3.45627682e-02 1.13477341e-03 9.99401885e-01 -7.08538391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.133617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.27, Z:-0.71 [[ 9.95524800e-01 8.80452274e-02 3.43279980e-02 1.96337313e+01] [-8.79534089e-02 9.96115825e-01 -4.17864677e-03 -1.27129215e+00] [-3.45625720e-02 1.14068204e-03 9.99401885e-01 -7.10000894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.27, Z:-0.71 [[ 9.95269499e-01 9.07294310e-02 3.47389648e-02 1.96655353e+01] [-9.06369233e-02 9.95875012e-01 -4.23178940e-03 -1.27408918e+00] [-3.49796148e-02 1.06313803e-03 9.99387461e-01 -7.11910267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.193617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.28, Z:-0.71 [[ 9.95194424e-01 9.16323166e-02 3.45192393e-02 1.96980539e+01] [-9.15412187e-02 9.95792373e-01 -4.21363954e-03 -1.27799603e+00] [-3.47601008e-02 1.03345734e-03 9.99395151e-01 -7.13072634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.28, Z:-0.72 [[ 9.95168272e-01 9.18834253e-02 3.46055995e-02 1.97301113e+01] [-9.17916538e-02 9.95769230e-01 -4.23475613e-03 -1.28110615e+00] [-3.48482950e-02 1.03778973e-03 9.99392075e-01 -7.15060303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.253617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.28, Z:-0.72 [[ 9.95174623e-01 9.18931475e-02 3.43965044e-02 1.97614934e+01] [-9.18023075e-02 9.95768334e-01 -4.21437168e-03 -1.28438954e+00] [-3.46382217e-02 1.03635727e-03 9.99399379e-01 -7.16662797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.29, Z:-0.72 [[ 9.95183406e-01 9.18485815e-02 3.42611531e-02 1.97943468e+01] [-9.17581406e-02 9.95772440e-01 -4.20613892e-03 -1.28795533e+00] [-3.45026399e-02 1.04213995e-03 9.99404063e-01 -7.18453299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.313617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.29, Z:-0.72 [[ 9.95187759e-01 9.16434501e-02 3.46814340e-02 1.98260106e+01] [-9.15502819e-02 9.95791307e-01 -4.26830697e-03 -1.29143888e+00] [-3.49266328e-02 1.07267179e-03 9.99389303e-01 -7.20075801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.30, Z:-0.72 [[ 9.95200560e-01 9.13138578e-02 3.51798917e-02 1.98583878e+01] [-9.12175985e-02 9.95821549e-01 -4.33492860e-03 -1.29514986e+00] [-3.54287333e-02 1.10509814e-03 9.99371594e-01 -7.20837522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.373617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.30, Z:-0.72 [[ 9.95252141e-01 9.09853173e-02 3.45665737e-02 1.98915204e+01] [-9.08918670e-02 9.95851619e-01 -4.26858655e-03 -1.29913925e+00] [-3.48115571e-02 1.10649948e-03 9.99393282e-01 -7.22476275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.30, Z:-0.72 [[ 9.95274560e-01 9.08351821e-02 3.43150004e-02 1.99238385e+01] [-9.07426765e-02 9.95865318e-01 -4.24683086e-03 -1.30311486e+00] [-3.45588804e-02 1.11292774e-03 9.99402044e-01 -7.24169260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.31, Z:-0.73 [[ 9.95464294e-01 8.89080435e-02 3.38555771e-02 1.99554618e+01] [-8.88165579e-02 9.96039147e-01 -4.19959648e-03 -1.30691175e+00] [-3.40948580e-02 1.17361252e-03 9.99417912e-01 -7.26157184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.31, Z:-0.73 [[ 9.95519802e-01 8.81556028e-02 3.41893776e-02 1.99878043e+01] [-8.80615508e-02 9.96105969e-01 -4.24999028e-03 -1.31120086e+00] [-3.44309036e-02 1.22017987e-03 9.99406336e-01 -7.27584156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.31, Z:-0.73 [[ 9.95675824e-01 8.60813927e-02 3.49234383e-02 2.00190455e+01] [-8.59816217e-02 9.96287220e-01 -4.35150015e-03 -1.31494416e+00] [-3.51683584e-02 1.32990964e-03 9.99380517e-01 -7.29446668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.32, Z:-0.73 [[ 9.95727738e-01 8.53481182e-02 3.52416027e-02 2.00514904e+01] [-8.52457324e-02 9.96350240e-01 -4.40041864e-03 -1.31866897e+00] [-3.54885467e-02 1.37742267e-03 9.99369134e-01 -7.31276403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.32, Z:-0.73 [[ 9.95778778e-01 8.47779655e-02 3.51755838e-02 2.00839380e+01] [-8.46255708e-02 9.96395933e-01 -5.80153861e-03 -1.32232165e+00] [-3.55406513e-02 2.80029517e-03 9.99364308e-01 -7.33600498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.33, Z:-0.73 [[ 9.95752712e-01 8.45580058e-02 3.64208796e-02 2.01153523e+01] [-8.44976207e-02 9.96418553e-01 -3.19681619e-03 -1.32775869e+00] [-3.65607566e-02 1.05760724e-04 9.99331426e-01 -7.33905845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.33, Z:-0.74 [[ 9.95772759e-01 8.46668118e-02 3.56109908e-02 2.01469008e+01] [-8.45610315e-02 9.96408280e-01 -4.46886338e-03 -1.33224747e+00] [-3.58614506e-02 1.43867030e-03 9.99355736e-01 -7.35772129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.34, Z:-0.74 [[ 9.95742014e-01 8.50970995e-02 3.54446805e-02 2.01790754e+01] [-8.49923863e-02 9.96371649e-01 -4.45334500e-03 -1.33672657e+00] [-3.56950415e-02 1.42185474e-03 9.99361717e-01 -7.37554566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.34, Z:-0.74 [[ 9.95683893e-01 8.59605999e-02 3.49908730e-02 2.02104174e+01] [-8.58587453e-02 9.96297578e-01 -4.40594131e-03 -1.34047660e+00] [-3.52400593e-02 1.38265234e-03 9.99377920e-01 -7.39077799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.34, Z:-0.74 [[ 9.95625382e-01 8.65225634e-02 3.52695945e-02 2.02416941e+01] [-8.64191060e-02 9.96248932e-01 -4.45017634e-03 -1.34432984e+00] [-3.55223365e-02 1.38274170e-03 9.99367926e-01 -7.41021884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.35, Z:-0.74 [[ 9.95571133e-01 8.70623387e-02 3.54720642e-02 2.02747580e+01] [-8.69577142e-02 9.96201909e-01 -4.48459774e-03 -1.34875585e+00] [-3.57277777e-02 1.38016643e-03 9.99360606e-01 -7.42841369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.35, Z:-0.74 [[ 9.95480628e-01 8.83799035e-02 3.47463969e-02 2.03066003e+01] [-8.82799900e-02 9.96085972e-01 -4.40224640e-03 -1.35381476e+00] [-3.49994686e-02 1.31493944e-03 9.99386466e-01 -7.44568877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.36, Z:-0.75 [[ 9.95400653e-01 8.93561595e-02 3.45400747e-02 2.03391616e+01] [-8.92577162e-02 9.95998913e-01 -4.38472533e-03 -1.35860726e+00] [-3.47936791e-02 1.28159027e-03 9.99393695e-01 -7.45948578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.36, Z:-0.75 [[ 9.95312413e-01 9.04819563e-02 3.41499201e-02 2.03719849e+01] [-9.03860823e-02 9.95897327e-01 -4.34404576e-03 -1.36334857e+00] [-3.44028718e-02 1.23700518e-03 9.99407280e-01 -7.47210288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.37, Z:-0.75 [[ 9.95165011e-01 9.19178108e-02 3.46080381e-02 2.04042961e+01] [-9.18198905e-02 9.95765859e-01 -4.41155988e-03 -1.36794548e+00] [-3.48670037e-02 1.21252377e-03 9.99391226e-01 -7.48981947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.37, Z:-0.75 [[ 9.94934968e-01 9.41442772e-02 3.52315901e-02 2.04367392e+01] [-9.40438628e-02 9.95557884e-01 -4.50021537e-03 -1.37172138e+00] [-3.54987568e-02 1.16410680e-03 9.99369043e-01 -7.50693855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.39, Z:-0.74 [[ 9.95028021e-01 9.37595359e-02 3.35914776e-02 2.04663869e+01] [-9.44448145e-02 9.95340536e-01 1.94266605e-02 -1.38644599e+00] [-3.16135246e-02 -2.25026124e-02 9.99246825e-01 -7.35266609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.37, Z:-0.76 [[ 0.99476907 0.0968633 0.03243465 20.50122936] [-0.09597762 0.9949942 -0.027836 -1.36800322] [-0.03496858 0.02457739 0.99908616 -0.76222445] [ 0. 0. 0. 1. ]] SLAMing on 20.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.39, Z:-0.75 [[ 9.94772831e-01 9.61784048e-02 3.43034745e-02 2.05322936e+01] [-9.60835102e-02 9.95363516e-01 -4.40799900e-03 -1.38564019e+00] [-3.45683813e-02 1.08895941e-03 9.99401742e-01 -7.54777668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.39, Z:-0.76 [[ 9.94773037e-01 9.63157748e-02 3.39098408e-02 2.05646553e+01] [-9.62228110e-02 9.95350241e-01 -4.36663210e-03 -1.39049535e+00] [-3.41727438e-02 1.08090767e-03 9.99415357e-01 -7.56256123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.40, Z:-0.76 [[ 9.94797970e-01 9.61399932e-02 3.36764078e-02 2.05972030e+01] [-9.60478918e-02 9.95367227e-01 -4.34579108e-03 -1.39554374e+00] [-3.39381970e-02 1.08863618e-03 9.99423341e-01 -7.57510107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.40, Z:-0.76 [[ 9.94898017e-01 9.52201905e-02 3.33324418e-02 2.06288603e+01] [-9.51291302e-02 9.95455607e-01 -4.31080395e-03 -1.40159423e+00] [-3.35914417e-02 1.11792411e-03 9.99435023e-01 -7.58515078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.093617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.41, Z:-0.76 [[ 9.94911104e-01 9.51333390e-02 3.31895055e-02 2.06611475e+01] [-9.50427276e-02 9.95463904e-01 -4.30075609e-03 -1.40574144e+00] [-3.34481000e-02 1.12444885e-03 9.99439823e-01 -7.59265486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.41, Z:-0.76 [[ 9.94766115e-01 9.62525310e-02 3.42903308e-02 2.06935324e+01] [-9.61561337e-02 9.95356302e-01 -4.45314255e-03 -1.40834343e+00] [-3.45597231e-02 1.13260967e-03 9.99401993e-01 -7.61270363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.41, Z:-0.76 [[ 9.94801107e-01 9.57986814e-02 3.45451872e-02 2.07255236e+01] [-9.57002319e-02 9.95400046e-01 -4.49600151e-03 -1.41342072e+00] [-3.48169919e-02 1.16664485e-03 9.99393024e-01 -7.62422727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.42, Z:-0.76 [[ 9.94885305e-01 9.48639308e-02 3.46996256e-02 2.07578060e+01] [-9.47637220e-02 9.95489509e-01 -4.52492904e-03 -1.41870433e+00] [-3.49723658e-02 1.21351974e-03 9.99387543e-01 -7.63551295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.213617864999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.42, Z:-0.76 [[ 9.94986571e-01 9.34665654e-02 3.55770181e-02 2.07902384e+01] [-9.33599700e-02 9.95621564e-01 -4.64939373e-03 -1.42330086e+00] [-3.58558093e-02 1.30461498e-03 9.99356122e-01 -7.64970374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.43, Z:-0.77 [[ 9.95002077e-01 9.32248947e-02 3.57768927e-02 2.08232562e+01] [-9.31165865e-02 9.95644188e-01 -4.68535868e-03 -1.42773232e+00] [-3.60578473e-02 1.33051950e-03 9.99348819e-01 -7.66405459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.273617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.43, Z:-0.77 [[ 9.95042359e-01 9.27900611e-02 3.57869815e-02 2.08545900e+01] [-9.26810482e-02 9.95684771e-01 -4.69673431e-03 -1.43218649e+00] [-3.60683627e-02 1.35667463e-03 9.99348404e-01 -7.67376159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617864999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.44, Z:-0.77 [[ 9.95084691e-01 9.24781247e-02 3.54154567e-02 2.08870987e+01] [-9.23708510e-02 9.95713784e-01 -4.65682979e-03 -1.43624277e+00] [-3.56943133e-02 1.36258416e-03 9.99361826e-01 -7.68610490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333617864999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.44, Z:-0.77 [[ 9.95154012e-01 9.20386231e-02 3.46032422e-02 2.09194945e+01] [-9.19356261e-02 9.95754515e-01 -4.55932264e-03 -1.43919837e+00] [-3.48759685e-02 1.35595747e-03 9.99390728e-01 -7.69611731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617864999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.44, Z:-0.77 [[ 9.95173832e-01 9.18161363e-02 3.46242796e-02 2.09511534e+01] [-9.17125392e-02 9.95775029e-01 -4.57183890e-03 -1.44341994e+00] [-3.48977616e-02 1.37429383e-03 9.99389943e-01 -7.70605307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393617864999996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.45, Z:-0.77 [[ 9.95190967e-01 9.19481430e-02 3.37709702e-02 2.09841820e+01] [-9.17816909e-02 9.95758265e-01 -6.44973145e-03 -1.44716843e+00] [-3.42207635e-02 3.31915773e-03 9.99408787e-01 -7.72184712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.46, Z:-0.77 [[ 9.94995136e-01 9.19402474e-02 3.91365700e-02 2.10124714e+01] [-9.23989873e-02 9.95671092e-01 1.00748824e-02 -1.45796765e+00] [-3.80408642e-02 -1.36406384e-02 9.99183079e-01 -7.66348439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453617864999995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.45, Z:-0.78 [[ 9.95198414e-01 9.20899760e-02 3.31595141e-02 2.10472631e+01] [-9.15590779e-02 9.95651244e-01 -1.71911472e-02 -1.44696188e+00] [-3.45984438e-02 1.40725479e-02 9.99302212e-01 -7.78512543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617864999996 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.46, Z:-0.77 [[ 9.95195639e-01 9.15978432e-02 3.45756493e-02 2.10778340e+01] [-9.14933882e-02 9.95795084e-01 -4.59459475e-03 -1.45705688e+00] [-3.48511166e-02 1.40907736e-03 9.99391522e-01 -7.74742940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.513617864999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.47, Z:-0.77 [[ 9.95415400e-01 8.99021830e-02 3.26462755e-02 2.11079937e+01] [-9.01280402e-02 9.95914939e-01 5.51095101e-03 -1.46502682e+00] [-3.20174669e-02 -8.42803033e-03 9.99451775e-01 -7.67134359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.46, Z:-0.78 [[ 9.95247767e-01 9.17765891e-02 3.25413647e-02 2.11417584e+01] [-9.13569815e-02 9.95717553e-01 -1.41582562e-02 -1.45936066e+00] [-3.37014044e-02 1.11180920e-02 9.99370103e-01 -7.80176243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.573617864999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.47, Z:-0.77 [[ 9.95393481e-01 9.01321485e-02 3.26804951e-02 2.11720743e+01] [-9.02575403e-02 9.95915617e-01 2.37918326e-03 -1.46908279e+00] [-3.23325746e-02 -5.31788461e-03 9.99463018e-01 -7.72911382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.47, Z:-0.78 [[ 9.95119839e-01 9.27737094e-02 3.36086988e-02 2.12053565e+01] [-9.24472779e-02 9.95655226e-01 -1.11431968e-02 -1.46602054e+00] [-3.44964723e-02 7.98178345e-03 9.99372946e-01 -7.80868436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.633617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.47, Z:-0.78 [[ 9.95154881e-01 9.22695471e-02 3.39572367e-02 2.12370778e+01] [-9.23157444e-02 9.95729763e-01 -2.08221233e-04 -1.47428006e+00] [-3.38314437e-02 -2.92757521e-03 9.99423265e-01 -7.76031547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.47, Z:-0.78 [[ 9.94942190e-01 9.41838732e-02 3.49204254e-02 2.12695739e+01] [-9.39254949e-02 9.95538812e-01 -8.97078550e-03 -1.47389147e+00] [-3.56095422e-02 5.64549474e-03 9.99349833e-01 -7.81657620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693617864999997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.48, Z:-0.78 [[ 9.94757373e-01 9.55761763e-02 3.63725670e-02 2.13011741e+01] [-9.54614406e-02 9.95421156e-01 -4.88214162e-03 -1.47817576e+00] [-3.66726391e-02 1.38436873e-03 9.99326374e-01 -7.81044877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.48, Z:-0.78 [[ 9.94718899e-01 9.59956870e-02 3.63199742e-02 2.13326698e+01] [-9.58812149e-02 9.95380798e-01 -4.88455958e-03 -1.48153556e+00] [-3.66211016e-02 1.37636047e-03 9.99328275e-01 -7.81827930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.49, Z:-0.78 [[ 9.94648237e-01 9.68969865e-02 3.58588648e-02 2.13656347e+01] [-9.67856641e-02 9.95293520e-01 -4.83151409e-03 -1.48568839e+00] [-3.61582549e-02 1.33503294e-03 9.99345185e-01 -7.82790889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.49, Z:-0.78 [[ 9.94606094e-01 9.74351070e-02 3.55684818e-02 2.13978379e+01] [-9.73255748e-02 9.95241012e-01 -4.80213365e-03 -1.48954673e+00] [-3.58671082e-02 1.31450846e-03 9.99355704e-01 -7.84270251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.813617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.49, Z:-0.78 [[ 9.94508565e-01 9.85795648e-02 3.51394965e-02 2.14292403e+01] [-9.84730213e-02 9.95128365e-01 -4.75413954e-03 -1.49310411e+00] [-3.54369707e-02 1.26774011e-03 9.99371109e-01 -7.84660490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.50, Z:-0.78 [[ 9.94453278e-01 9.93380245e-02 3.45634787e-02 2.14613555e+01] [-9.94102566e-02 9.95046462e-01 3.73391651e-04 -1.49976013e+00] [-3.43551752e-02 -3.80728483e-03 9.99402435e-01 -7.81777271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.49, Z:-0.79 [[ 9.94383842e-01 9.97780941e-02 3.52860616e-02 2.14922658e+01] [-9.93018218e-02 9.94944201e-01 -1.50061816e-02 -1.49234366e+00] [-3.66049506e-02 1.14179344e-02 9.99264584e-01 -7.93473533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.50, Z:-0.79 [[ 9.93977219e-01 1.02997684e-01 3.74268024e-02 2.15255495e+01] [-1.02852306e-01 9.94679762e-01 -5.79431344e-03 -1.50386101e+00] [-3.78244838e-02 1.90998262e-03 9.99282573e-01 -7.93103572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.51, Z:-0.79 [[ 9.94259783e-01 1.01807695e-01 3.29040738e-02 2.15553966e+01] [-1.01883616e-01 9.94796123e-01 6.34622284e-04 -1.50805230e+00] [-3.26682356e-02 -3.98336542e-03 9.99458313e-01 -7.88629770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.51, Z:-0.79 [[ 9.94242595e-01 1.02336309e-01 3.17638601e-02 2.15876724e+01] [-1.02250189e-01 9.94749298e-01 -4.32814260e-03 -1.51044466e+00] [-3.20400037e-02 1.05536305e-03 9.99486030e-01 -7.91885806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.993617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.52, Z:-0.79 [[ 9.94229285e-01 1.02556976e-01 3.14673855e-02 2.16201732e+01] [-1.02472315e-01 9.94726581e-01 -4.29565511e-03 -1.51549120e+00] [-3.17419942e-02 1.04633026e-03 9.99495548e-01 -7.92772895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.51, Z:-0.81 [[ 0.99431405 0.10077378 0.03441238 21.65126457] [-0.09991476 0.99466053 -0.02583538 -1.50559277] [-0.03683217 0.02225018 0.99907373 -0.81202986] [ 0. 0. 0. 1. ]] SLAMing on 22.053617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.52, Z:-0.81 [[ 9.94280026e-01 1.00216002e-01 3.69321480e-02 2.16823590e+01] [-1.00105023e-01 9.94965072e-01 -4.84662644e-03 -1.52109169e+00] [-3.72319069e-02 1.12181032e-03 9.99306023e-01 -8.05886580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.54, Z:-0.79 [[ 9.94158586e-01 1.02511623e-01 3.37649707e-02 2.17142066e+01] [-1.03124044e-01 9.94524571e-01 1.69206653e-02 -1.53886065e+00] [-3.18455281e-02 -2.03038051e-02 9.99286554e-01 -7.89092394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.53, Z:-0.80 [[ 9.94052731e-01 1.04377746e-01 3.10556519e-02 2.17481475e+01] [-1.04295259e-01 9.94537218e-01 -4.26865814e-03 -1.53147201e+00] [-3.13315545e-02 1.00431401e-03 9.99508542e-01 -7.98253030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.54, Z:-0.80 [[ 9.93963389e-01 1.05081461e-01 3.15383410e-02 2.17810423e+01] [-1.04996464e-01 9.94463108e-01 -4.34378496e-03 -1.53635363e+00] [-3.18201679e-02 1.00614894e-03 9.99493104e-01 -7.99530669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.54, Z:-0.80 [[ 9.93954324e-01 1.04795300e-01 3.27528250e-02 2.18124490e+01] [-1.04703155e-01 9.94493244e-01 -4.52066777e-03 -1.54219488e+00] [-3.30462079e-02 1.06401316e-03 9.99453259e-01 -7.99983360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.55, Z:-0.80 [[ 9.93943702e-01 1.04600428e-01 3.36848245e-02 2.18444993e+01] [-1.04502555e-01 9.94513710e-01 -4.65798830e-03 -1.54728680e+00] [-3.39872474e-02 1.10962790e-03 9.99421651e-01 -8.01234780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.233617864999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.55, Z:-0.80 [[ 9.93970939e-01 1.04053193e-01 3.45645248e-02 2.18766963e+01] [-1.03949468e-01 9.94571048e-01 -4.78939406e-03 -1.55226392e+00] [-3.48752274e-02 1.16755455e-03 9.99390992e-01 -8.02633485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.56, Z:-0.80 [[ 9.94023793e-01 1.03298244e-01 3.53011478e-02 2.19096864e+01] [-1.03189221e-01 9.94649668e-01 -4.90136053e-03 -1.55700533e+00] [-3.56185768e-02 1.22937105e-03 9.99364701e-01 -8.04340584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.56, Z:-0.81 [[ 9.94105170e-01 1.02233908e-01 3.60990185e-02 2.19419826e+01] [-1.02118828e-01 9.94759530e-01 -5.02228152e-03 -1.56119828e+00] [-3.64232901e-02 1.30628655e-03 9.99335598e-01 -8.06064982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.57, Z:-0.81 [[ 9.94122370e-01 1.02158852e-01 3.58368969e-02 2.19740877e+01] [-1.02045026e-01 9.94767236e-01 -4.99586561e-03 -1.56554392e+00] [-3.61597428e-02 1.30952468e-03 9.99345165e-01 -8.07525312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.57, Z:-0.81 [[ 9.94073379e-01 1.02844361e-01 3.52300325e-02 2.20052020e+01] [-1.02734411e-01 9.94696645e-01 -4.92187913e-03 -1.57032502e+00] [-3.55493826e-02 1.27337237e-03 9.99367110e-01 -8.08460523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.57, Z:-0.81 [[ 9.93987529e-01 1.03584106e-01 3.54841647e-02 2.20377286e+01] [-1.03472841e-01 9.94619898e-01 -4.96277092e-03 -1.57465731e+00] [-3.58073205e-02 1.26128508e-03 9.99357916e-01 -8.10228838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.58, Z:-0.81 [[ 9.93921939e-01 1.04173396e-01 3.55961068e-02 2.20698086e+01] [-1.04061440e-01 9.94558360e-01 -4.98855468e-03 -1.57846511e+00] [-3.59220803e-02 1.25405180e-03 9.99353807e-01 -8.12014127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.58, Z:-0.81 [[ 9.93859387e-01 1.04910456e-01 3.51754989e-02 2.21019273e+01] [-1.04801274e-01 9.94480922e-01 -4.93855867e-03 -1.58228545e+00] [-3.54994690e-02 1.22179577e-03 9.99368948e-01 -8.14824191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.59, Z:-0.82 [[ 9.93869897e-01 1.05082981e-01 3.43539643e-02 2.21339923e+01] [-1.04978643e-01 9.94462738e-01 -4.83193181e-03 -1.58693232e+00] [-3.46714912e-02 1.19587901e-03 9.99398048e-01 -8.16518717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.59, Z:-0.83 [[ 9.93822085e-01 1.04994602e-01 3.59693929e-02 2.21680252e+01] [-1.04606993e-01 9.94435093e-01 -1.24988768e-02 -1.58912678e+00] [-3.70815412e-02 8.65900972e-03 9.99274727e-01 -8.27269510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.533617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.60, Z:-0.82 [[ 9.93936600e-01 1.03665120e-01 3.66548582e-02 2.21983183e+01] [-1.03823632e-01 9.94592724e-01 2.44262059e-03 -1.60196815e+00] [-3.62034407e-02 -6.23345052e-03 9.99325000e-01 -8.21493043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.60, Z:-0.82 [[ 9.94080648e-01 1.02642831e-01 3.56105902e-02 2.22294687e+01] [-1.02509667e-01 9.94716525e-01 -5.55012838e-03 -1.60422210e+00] [-3.59921234e-02 1.86684546e-03 9.99350330e-01 -8.21043829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.593617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.61, Z:-0.82 [[ 9.94085300e-01 1.02185976e-01 3.67755739e-02 2.22613037e+01] [-1.02063094e-01 9.94764293e-01 -5.20832034e-03 -1.60975816e+00] [-3.71152451e-02 1.42408582e-03 9.99309977e-01 -8.22075239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.61, Z:-0.82 [[ 9.94028160e-01 1.02083118e-01 3.85623527e-02 2.22932714e+01] [-1.01947513e-01 9.94774730e-01 -5.47184278e-03 -1.61401968e+00] [-3.89194368e-02 1.50782985e-03 9.99241214e-01 -8.24136075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.62, Z:-0.83 [[ 9.93899897e-01 1.02967341e-01 3.95059645e-02 2.23256509e+01] [-1.02825303e-01 9.94683577e-01 -5.61599292e-03 -1.61884904e+00] [-3.98741980e-02 1.51952203e-03 9.99203553e-01 -8.26084921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.62, Z:-0.83 [[ 9.93808798e-01 1.03881561e-01 3.94042550e-02 2.23568929e+01] [-1.03740540e-01 9.94588559e-01 -5.61236462e-03 -1.62403254e+00] [-3.97740424e-02 1.48979866e-03 9.99207589e-01 -8.27402838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.63, Z:-0.83 [[ 9.93656597e-01 1.05080849e-01 4.00572479e-02 2.23892473e+01] [-1.04935668e-01 9.94462587e-01 -5.71567431e-03 -1.62958740e+00] [-4.04360422e-02 1.47598343e-03 9.99181039e-01 -8.29053531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.63, Z:-0.83 [[ 9.93360540e-01 1.07436717e-01 4.11362380e-02 2.24210410e+01] [-1.07285138e-01 9.94210898e-01 -5.88124922e-03 -1.63477954e+00] [-4.15299582e-02 1.42889392e-03 9.99136237e-01 -8.31617608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.773617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.64, Z:-0.83 [[ 9.93185972e-01 1.08935034e-01 4.14099420e-02 2.24537768e+01] [-1.08782289e-01 9.94047905e-01 -5.93092185e-03 -1.63892470e+00] [-4.18095513e-02 1.38584011e-03 9.99124637e-01 -8.33913388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.64, Z:-0.84 [[ 9.92843340e-01 1.11708956e-01 4.22280997e-02 2.24856353e+01] [-1.11552101e-01 9.93740108e-01 -6.06017074e-03 -1.64206823e+00] [-4.26407317e-02 1.30616692e-03 9.99089617e-01 -8.36917196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.65, Z:-0.84 [[ 9.92699576e-01 1.12864445e-01 4.25343275e-02 2.25169128e+01] [-1.12705885e-01 9.93609575e-01 -6.11526994e-03 -1.64644725e+00] [-4.29527116e-02 1.27675687e-03 9.99076291e-01 -8.38845041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.65, Z:-0.84 [[ 9.92596634e-01 1.14181123e-01 4.14076534e-02 2.25487079e+01] [-1.14031572e-01 9.93459228e-01 -5.96352057e-03 -1.65323031e+00] [-4.18177368e-02 1.19759062e-03 9.99124538e-01 -8.40182154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.66, Z:-0.84 [[ 9.92529284e-01 1.14647984e-01 4.17308109e-02 2.25805453e+01] [-1.14496013e-01 9.93405458e-01 -6.02161851e-03 -1.65908593e+00] [-4.21459817e-02 1.19862122e-03 9.99110744e-01 -8.42215498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.66, Z:-0.84 [[ 9.92495852e-01 1.15082123e-01 4.13290201e-02 2.26132659e+01] [-1.14933008e-01 9.93355281e-01 -5.97403490e-03 -1.66446029e+00] [-4.17419050e-02 1.17913627e-03 9.99127731e-01 -8.44023952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.953617864999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.67, Z:-0.85 [[ 9.92460334e-01 1.15539374e-01 4.09040139e-02 2.26456157e+01] [-1.15393249e-01 9.93302225e-01 -5.92349313e-03 -1.66927207e+00] [-4.13144447e-02 1.15878491e-03 9.99145522e-01 -8.46140281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.69, Z:-0.83 [[ 9.92651441e-01 1.14369851e-01 3.95304223e-02 2.26758332e+01] [-1.15320069e-01 9.93070126e-01 2.26496617e-02 -1.68827064e+00] [-3.66660430e-02 -2.70418703e-02 9.98961630e-01 -8.31828892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.013617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.67, Z:-0.85 [[ 9.92604805e-01 1.16107363e-01 3.54228809e-02 2.27081096e+01] [-1.15767592e-01 9.93209711e-01 -1.15036499e-02 -1.67472094e+00] [-3.65180078e-02 7.31775656e-03 9.99306202e-01 -8.49642796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.67, Z:-0.86 [[ 0.99227976 0.11856579 0.03637351 22.74028394] [-0.11760873 0.99268143 -0.02741834 -1.67291358] [-0.03935819 0.02292882 0.99896206 -0.86099227] [ 0. 0. 0. 1. ]] SLAMing on 23.073617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.69, Z:-0.85 [[ 9.92231439e-01 1.17907300e-01 3.96817361e-02 2.27710019e+01] [-1.17770447e-01 9.93024042e-01 -5.77705584e-03 -1.69025113e+00] [-4.00860750e-02 1.05884063e-03 9.99195669e-01 -8.54771188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.71, Z:-0.84 [[ 9.92506677e-01 1.15859200e-01 3.88219205e-02 2.28016883e+01] [-1.16664943e-01 9.92986348e-01 1.91678037e-02 -1.71073942e+00] [-3.63288706e-02 -2.35533302e-02 9.99062287e-01 -8.39866102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.133617864999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.69, Z:-0.87 [[ 0.9922862 0.11788529 0.03835574 22.83437134] [-0.11674316 0.99268525 -0.03077393 -1.69136773] [-0.04170297 0.02605878 0.99879017 -0.86561962] [ 0. 0. 0. 1. ]] SLAMing on 23.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.71, Z:-0.86 [[ 9.92314839e-01 1.15845844e-01 4.34856444e-02 2.28644452e+01] [-1.15678439e-01 9.93266386e-01 -6.35499594e-03 -1.70994943e+00] [-4.39290287e-02 1.27580532e-03 9.99033840e-01 -8.57815232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.193617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.73, Z:-0.84 [[ 0.99282083 0.11190253 0.0422448 22.89383988] [-0.11305232 0.99325193 0.02587988 -1.73218732] [-0.0390637 -0.03046995 0.99877205 -0.83661761] [ 0. 0. 0. 1. ]] SLAMing on 23.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.71, Z:-0.87 [[ 0.9926505 0.11372008 0.04138524 22.92807316] [-0.11214056 0.99293928 -0.03867933 -1.70502928] [-0.04549164 0.03375409 0.9983943 -0.87372565] [ 0. 0. 0. 1. ]] SLAMing on 23.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.73, Z:-0.86 [[ 9.92724986e-01 1.11281901e-01 4.59721807e-02 2.29588380e+01] [-1.11088904e-01 9.93787618e-01 -6.73982891e-03 -1.72875066e+00] [-4.64366049e-02 1.58379738e-03 9.98919983e-01 -8.62983602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.75, Z:-0.84 [[ 0.99323694 0.10778288 0.04316508 22.98715438] [-0.10896622 0.99370371 0.02606336 -1.75187287] [-0.04008412 -0.03059063 0.99872793 -0.84225044] [ 0. 0. 0. 1. ]] SLAMing on 23.313617864999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.72, Z:-0.88 [[ 0.99277014 0.11248916 0.04187638 23.02308193] [-0.11087959 0.99306978 -0.03896319 -1.7241911 ] [-0.04596911 0.03403826 0.99836278 -0.87840079] [ 0. 0. 0. 1. ]] SLAMing on 23.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.76, Z:-0.85 [[ 9.93014703e-01 1.08900515e-01 4.54145139e-02 2.30486934e+01] [-1.09850584e-01 9.93767075e-01 1.89696898e-02 -1.75609080e+00] [-4.30656397e-02 -2.38259918e-02 9.98788102e-01 -8.51327735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.373617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.09, Y:-1.74, Z:-0.88 [[ 0.99226557 0.11653368 0.04276622 23.0853844 ] [-0.11521996 0.99282432 -0.03200359 -1.73743552] [-0.04618884 0.02682854 0.99857239 -0.87862383] [ 0. 0. 0. 1. ]] SLAMing on 23.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.76, Z:-0.86 [[ 9.92554328e-01 1.13050691e-01 4.53370495e-02 2.31120212e+01] [-1.13393569e-01 9.93537287e-01 5.05550073e-03 -1.75683761e+00] [-4.44725213e-02 -1.01587890e-02 9.98958955e-01 -8.64300613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.75, Z:-0.88 [[ 9.92019254e-01 1.18453383e-01 4.32041202e-02 2.31480817e+01] [-1.17776048e-01 9.92878683e-01 -1.79087384e-02 -1.75336004e+00] [-4.50178007e-02 1.26774028e-02 9.98905742e-01 -8.77512902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.76, Z:-0.88 [[ 9.91864075e-01 1.19191411e-01 4.47108888e-02 2.31802833e+01] [-1.19013376e-01 9.92870498e-01 -6.63246859e-03 -1.76409522e+00] [-4.51826557e-02 1.25731349e-03 9.98977951e-01 -8.75127287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.493617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.77, Z:-0.88 [[ 9.91782559e-01 1.19814183e-01 4.48544005e-02 2.32124576e+01] [-1.19635065e-01 9.92795553e-01 -6.66640223e-03 -1.76879542e+00] [-4.53299789e-02 1.24546234e-03 9.98971292e-01 -8.76524061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.77, Z:-0.87 [[ 9.92186138e-01 1.15988934e-01 4.59699328e-02 2.32385949e+01] [-1.16382473e-01 9.93186529e-01 5.96976025e-03 -1.77385027e+00] [-4.49642919e-02 -1.12732078e-02 9.98924986e-01 -8.72021482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.553617864999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.77, Z:-0.88 [[ 9.91659094e-01 1.20731573e-01 4.51234715e-02 2.32758889e+01] [-1.19977345e-01 9.92593361e-01 -1.90750458e-02 -1.77095162e+00] [-4.70922185e-02 1.35021484e-02 9.98799287e-01 -8.83250468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.79, Z:-0.87 [[ 9.92040729e-01 1.16682817e-01 4.73319410e-02 2.33036557e+01] [-1.17143242e-01 9.93089908e-01 7.06371638e-03 -1.78617206e+00] [-4.61806586e-02 -1.25521114e-02 9.98854239e-01 -8.71714340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.613617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.78, Z:-0.88 [[ 9.92277591e-01 1.16124338e-01 4.35926679e-02 2.33363283e+01] [-1.15928669e-01 9.93232884e-01 -6.99865733e-03 -1.78494303e+00] [-4.41103857e-02 1.89097085e-03 9.99024874e-01 -8.77737289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.79, Z:-0.88 [[ 9.92386721e-01 1.15254716e-01 4.34159651e-02 2.33668570e+01] [-1.15154433e-01 9.93335945e-01 -4.81210259e-03 -1.79025933e+00] [-4.36812563e-02 -2.24074132e-04 9.99045493e-01 -8.78924429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.673617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.79, Z:-0.88 [[ 9.92390853e-01 1.15269301e-01 4.32825947e-02 2.33995890e+01] [-1.15095189e-01 9.93333190e-01 -6.50168371e-03 -1.79408724e+00] [-4.37434824e-02 1.47059304e-03 9.99041713e-01 -8.82099993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.79, Z:-0.89 [[ 9.92168947e-01 1.18341709e-01 3.99502198e-02 2.34343987e+01] [-1.17300267e-01 9.92716081e-01 -2.74850859e-02 -1.79013161e+00] [-4.29118576e-02 2.25836774e-02 9.98823583e-01 -8.94207362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.733617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.82, Z:-0.88 [[ 9.92237871e-01 1.14846452e-01 4.76896189e-02 2.34601554e+01] [-1.15821629e-01 9.93103165e-01 1.82058766e-02 -1.81592541e+00] [-4.52698312e-02 -2.35880495e-02 9.98696273e-01 -8.76899787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.80, Z:-0.90 [[ 9.92478036e-01 1.15145909e-01 4.15784517e-02 2.34972899e+01] [-1.14186332e-01 9.93150567e-01 -2.47675862e-02 -1.79783715e+00] [-4.41455491e-02 1.98335945e-02 9.98828213e-01 -8.97977438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.81, Z:-0.89 [[ 9.92479235e-01 1.14729884e-01 4.26851549e-02 2.35291744e+01] [-1.14560107e-01 9.93395634e-01 -6.41064435e-03 -1.81332947e+00] [-4.31387390e-02 1.47241550e-03 9.99068006e-01 -8.89660780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.82, Z:-0.89 [[ 9.92201356e-01 1.16201934e-01 4.50952340e-02 2.35602385e+01] [-1.16013341e-01 9.93224474e-01 -6.78586945e-03 -1.82111645e+00] [-4.55782212e-02 1.50130009e-03 9.98959645e-01 -8.90931557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.853617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.82, Z:-0.89 [[ 9.92459428e-01 1.14314553e-01 4.42319606e-02 2.35925359e+01] [-1.14130767e-01 9.93443367e-01 -6.66664509e-03 -1.82310280e+00] [-4.47040424e-02 1.56814717e-03 9.98999044e-01 -8.92344202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.83, Z:-0.89 [[ 9.92205219e-01 1.16313159e-01 4.47219549e-02 2.36250622e+01] [-1.16126804e-01 9.93211449e-01 -6.75150349e-03 -1.82985345e+00] [-4.52036463e-02 1.50545930e-03 9.98976658e-01 -8.94221792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.913617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.83, Z:-0.90 [[ 9.92256187e-01 1.15282933e-01 4.62331569e-02 2.36517183e+01] [-1.15160945e-01 9.93332694e-01 -5.30240081e-03 -1.83056882e+00] [-4.65361826e-02 -6.29140296e-05 9.98916603e-01 -8.99158983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.84, Z:-0.90 [[ 9.92224592e-01 1.15614928e-01 4.60819746e-02 2.36847339e+01] [-1.15438579e-01 9.93293491e-01 -6.47884608e-03 -1.83516900e+00] [-4.65219767e-02 1.10883273e-03 9.98916651e-01 -9.01168921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.84, Z:-0.90 [[ 9.92082518e-01 1.17374541e-01 4.46709572e-02 2.37199091e+01] [-1.17134933e-01 9.93084162e-01 -7.95322926e-03 -1.84284481e+00] [-4.52955267e-02 2.65773012e-03 9.98970096e-01 -9.00325327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.85, Z:-0.90 [[ 9.92137705e-01 1.17352354e-01 4.34879105e-02 2.37526829e+01] [-1.17043694e-01 9.93080502e-01 -9.58594395e-03 -1.84735422e+00] [-4.43119291e-02 4.42059075e-03 9.99007964e-01 -9.02707966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.033617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.85, Z:-0.90 [[ 9.92480930e-01 1.15142484e-01 4.15188168e-02 2.37830188e+01] [-1.15102115e-01 9.93347950e-01 -3.36948343e-03 -1.85462777e+00] [-4.16306023e-02 -1.43475558e-03 9.99132041e-01 -8.99003846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.86, Z:-0.90 [[ 9.92591436e-01 1.13234744e-01 4.40469592e-02 2.38157223e+01] [-1.13047569e-01 9.93566815e-01 -6.72544900e-03 -1.85761094e+00] [-4.45251515e-02 1.69622143e-03 9.99006824e-01 -9.03881769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.87, Z:-0.91 [[ 9.92290295e-01 1.15216738e-01 4.56626052e-02 2.38465200e+01] [-1.15017383e-01 9.93338968e-01 -6.97820995e-03 -1.86528993e+00] [-4.61624517e-02 1.67241667e-03 9.98932546e-01 -9.05242997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.87, Z:-0.91 [[ 9.92262786e-01 1.15548445e-01 4.54215783e-02 2.38787428e+01] [-1.15350964e-01 9.93300458e-01 -6.95381811e-03 -1.87089485e+00] [-4.59207774e-02 1.66059207e-03 9.98943704e-01 -9.06869937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.88, Z:-0.91 [[ 9.92153817e-01 1.16810678e-01 4.45653411e-02 2.39111584e+01] [-1.16621313e-01 9.93152938e-01 -6.83462324e-03 -1.87575588e+00] [-4.50585564e-02 1.58372894e-03 9.98983092e-01 -9.08790620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.88, Z:-0.91 [[ 9.91989140e-01 1.18605611e-01 4.34770671e-02 2.39433609e+01] [-1.18426592e-01 9.92940344e-01 -6.67944023e-03 -1.88043227e+00] [-4.39623530e-02 1.47709127e-03 9.99032096e-01 -9.11110941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.89, Z:-0.91 [[ 9.91650266e-01 1.22140403e-01 4.13699464e-02 2.39757125e+01] [-1.21980947e-01 9.92512023e-01 -6.36646196e-03 -1.88556310e+00] [-4.18377714e-02 1.26695846e-03 9.99123614e-01 -9.14375620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.89, Z:-0.92 [[ 9.91504208e-01 1.23532551e-01 4.07322257e-02 2.40067478e+01] [-1.23378658e-01 9.92339793e-01 -6.28023117e-03 -1.89100615e+00] [-4.11960214e-02 1.20138829e-03 9.99150361e-01 -9.16398865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.90, Z:-0.92 [[ 9.91355385e-01 1.24833287e-01 4.03875143e-02 2.40381599e+01] [-1.24682777e-01 9.92177071e-01 -6.23416241e-03 -1.89714871e+00] [-4.08497966e-02 1.14464303e-03 9.99164643e-01 -9.17737191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.90, Z:-0.92 [[ 9.91095127e-01 1.26815758e-01 4.05981743e-02 2.40706089e+01] [-1.26623592e-01 9.91924119e-01 -7.28072986e-03 -1.90437306e+00] [-4.11936195e-02 2.07520924e-03 9.99149028e-01 -9.19443431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.333617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.91, Z:-0.92 [[ 9.91137232e-01 1.27001289e-01 3.89571450e-02 2.41026770e+01] [-1.26721457e-01 9.91892077e-01 -9.58023388e-03 -1.90835550e+00] [-3.98579855e-02 4.55862033e-03 9.99194956e-01 -9.21105611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.92, Z:-0.92 [[ 9.90722076e-01 1.29198004e-01 4.21621032e-02 2.41337354e+01] [-1.29242035e-01 9.91611636e-01 -1.69125918e-03 -1.91675829e+00] [-4.20269394e-02 -3.77354821e-03 9.99109352e-01 -9.19026069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.393617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.92, Z:-0.92 [[ 9.90379869e-01 1.31585143e-01 4.28143078e-02 2.41649377e+01] [-1.31496038e-01 9.91304570e-01 -4.90313380e-03 -1.91978736e+00] [-4.30871986e-02 -7.73946839e-04 9.99071016e-01 -9.21594268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.92, Z:-0.92 [[ 9.90061252e-01 1.33996813e-01 4.27032977e-02 2.41981633e+01] [-1.33763592e-01 9.90978631e-01 -8.28574172e-03 -1.92444593e+00] [-4.34283185e-02 2.49124531e-03 9.99053439e-01 -9.23029505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.453617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.93, Z:-0.92 [[ 9.89907610e-01 1.34883829e-01 4.34657943e-02 2.42305681e+01] [-1.34717041e-01 9.90861069e-01 -6.75728781e-03 -1.93062745e+00] [-4.39800123e-02 8.33507423e-04 9.99032063e-01 -9.23680886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.94, Z:-0.92 [[ 9.89804271e-01 1.35511732e-01 4.38642969e-02 2.42616082e+01] [-1.35341926e-01 9.90775398e-01 -6.83185111e-03 -1.93592134e+00] [-4.43854622e-02 8.25516993e-04 9.99014139e-01 -9.24928161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.513617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.94, Z:-0.93 [[ 9.89917657e-01 1.34644457e-01 4.39761588e-02 2.42931004e+01] [-1.34472407e-01 9.90893586e-01 -6.86095381e-03 -1.94184384e+00] [-4.44994831e-02 8.78199386e-04 9.99009021e-01 -9.26731102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.95, Z:-0.93 [[ 9.90015596e-01 1.34111691e-01 4.33955581e-02 2.43258973e+01] [-1.33943158e-01 9.90965813e-01 -6.78146350e-03 -1.94736592e+00] [-4.39129880e-02 9.01216534e-04 9.99034953e-01 -9.28035023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.95, Z:-0.93 [[ 9.90340774e-01 1.31712793e-01 4.33230977e-02 2.43588096e+01] [-1.31542005e-01 9.91287397e-01 -6.78208185e-03 -1.95200759e+00] [-4.38389277e-02 1.01776505e-03 9.99038094e-01 -9.29847245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.96, Z:-0.93 [[ 9.90450540e-01 1.30863988e-01 4.33859985e-02 2.43902213e+01] [-1.30691360e-01 9.91399755e-01 -6.80397846e-03 -1.95604597e+00] [-4.39032641e-02 1.06882897e-03 9.99035215e-01 -9.31452845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.633617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.96, Z:-0.93 [[ 9.90576141e-01 1.29969207e-01 4.32077994e-02 2.44218886e+01] [-1.29796660e-01 9.91517404e-01 -6.78711796e-03 -1.96095273e+00] [-4.37234015e-02 1.11492906e-03 9.99043053e-01 -9.33118596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.97, Z:-0.93 [[ 9.90974894e-01 1.27380218e-01 4.17497233e-02 2.44538294e+01] [-1.27216399e-01 9.91853238e-01 -6.56828557e-03 -1.96726131e+00] [-4.22462679e-02 1.19775664e-03 9.99106510e-01 -9.33912934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.693617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.97, Z:-0.93 [[ 9.91078588e-01 1.26715951e-01 4.13073757e-02 2.44858272e+01] [-1.26554546e-01 9.91938289e-01 -6.50980261e-03 -1.97202087e+00] [-4.17992634e-02 1.22408982e-03 9.99125279e-01 -9.34773591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.98, Z:-0.94 [[ 9.91143892e-01 1.26265784e-01 4.11185751e-02 2.45180922e+01] [-1.26105041e-01 9.91995663e-01 -6.49022002e-03 -1.97691926e+00] [-4.16089409e-02 1.24748233e-03 9.99133194e-01 -9.36060119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.753617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.98, Z:-0.94 [[ 9.91231699e-01 1.25712203e-01 4.06959656e-02 2.45491670e+01] [-1.25553820e-01 9.92065941e-01 -6.43476634e-03 -1.98162686e+00] [-4.11820101e-02 1.26881044e-03 9.99150856e-01 -9.38006947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.98, Z:-0.94 [[ 9.91471792e-01 1.24290738e-01 3.91854252e-02 2.45816555e+01] [-1.24142373e-01 9.92245006e-01 -6.20644746e-03 -1.98461045e+00] [-3.96529464e-02 1.28894589e-03 9.99212681e-01 -9.41000274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.99, Z:-0.94 [[ 9.91498605e-01 1.24008877e-01 3.93994177e-02 2.46136335e+01] [-1.23858503e-01 9.92280242e-01 -6.24439086e-03 -1.98769533e+00] [-3.98696236e-02 1.31135194e-03 9.99204030e-01 -9.42695494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.99, Z:-0.94 [[ 9.91417506e-01 1.24491980e-01 3.99133425e-02 2.46465515e+01] [-1.24337580e-01 9.92219736e-01 -6.33736494e-03 -1.99210717e+00] [-4.03917572e-02 1.32024613e-03 9.99183048e-01 -9.44504578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.00, Z:-0.94 [[ 9.91678747e-01 1.22384089e-01 3.99424215e-02 2.46795319e+01] [-1.22227589e-01 9.92481810e-01 -6.34613136e-03 -1.99760810e+00] [-4.04187923e-02 1.41125771e-03 9.99181830e-01 -9.44028899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.00, Z:-0.94 [[ 9.91711613e-01 1.22013044e-01 4.02603179e-02 2.47108701e+01] [-1.21853230e-01 9.92527438e-01 -6.40905322e-03 -2.00267108e+00] [-4.07414583e-02 1.45008274e-03 9.99168670e-01 -9.44480990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.01, Z:-0.95 [[ 9.91742768e-01 1.21799992e-01 4.01378139e-02 2.47429579e+01] [-1.21640720e-01 9.92553590e-01 -6.39585307e-03 -2.00668331e+00] [-4.06179461e-02 1.46064846e-03 9.99173683e-01 -9.45530725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.01, Z:-0.94 [[ 9.92024197e-01 1.18885471e-01 4.18836089e-02 2.47711030e+01] [-1.19341943e-01 9.92816282e-01 8.56334684e-03 -2.01170755e+00] [-4.05646713e-02 -1.34935185e-02 9.99085798e-01 -9.39132334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.80, Y:-2.01, Z:-0.95 [[ 9.91925926e-01 1.20408551e-01 3.98087704e-02 2.48045000e+01] [-1.20242783e-01 9.92722965e-01 -6.54126783e-03 -2.00735143e+00] [-4.03067051e-02 1.70173580e-03 9.99185905e-01 -9.46465739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.01, Z:-0.96 [[ 9.91421905e-01 1.24876548e-01 3.85804953e-02 2.48393192e+01] [-1.24147299e-01 9.92046570e-01 -2.07617787e-02 -2.00617209e+00] [-4.08663073e-02 1.57940179e-02 9.99039786e-01 -9.55960509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.053617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.02, Z:-0.95 [[ 9.91430991e-01 1.24327027e-01 4.00921482e-02 2.48694925e+01] [-1.24169080e-01 9.92240333e-01 -6.41565806e-03 -2.01884985e+00] [-4.05786862e-02 1.38247708e-03 9.99175389e-01 -9.51372326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:-2.02, Z:-0.95 [[ 9.91436682e-01 1.24779030e-01 3.85162166e-02 2.49018949e+01] [-1.24513187e-01 9.92174977e-01 -9.23482058e-03 -2.02234617e+00] [-3.93671383e-02 4.35996301e-03 9.99215302e-01 -9.53743407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:-2.03, Z:-0.95 [[ 9.91285486e-01 1.25408084e-01 4.03224316e-02 2.49334520e+01] [-1.25373771e-01 9.92103792e-01 -3.38860041e-03 -2.02735970e+00] [-4.04289952e-02 -1.69630491e-03 9.99180974e-01 -9.53159271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.03, Z:-0.95 [[ 9.91664803e-01 1.23684536e-01 3.60978307e-02 2.49640498e+01] [-1.23932813e-01 9.92279411e-01 4.71468412e-03 -2.03294501e+00] [-3.52360007e-02 -9.14909199e-03 9.99337139e-01 -9.47144324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.173617864999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.03, Z:-0.96 [[ 9.91162952e-01 1.26947192e-01 3.84761460e-02 2.49973853e+01] [-1.26390127e-01 9.91841872e-01 -1.65902585e-02 -2.02865140e+00] [-4.02683394e-02 1.15806446e-02 9.99121789e-01 -9.61436703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617864999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.04, Z:-0.96 [[ 9.91047475e-01 1.27064243e-01 4.09826799e-02 2.50288599e+01] [-1.26899856e-01 9.91893586e-01 -6.59855402e-03 -2.03876875e+00] [-4.14888976e-02 1.33878413e-03 9.99138068e-01 -9.58933283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.233617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.04, Z:-0.96 [[ 9.90898736e-01 1.28771795e-01 3.92112255e-02 2.50599796e+01] [-1.28200440e-01 9.91606596e-01 -1.67632299e-02 -2.03764103e+00] [-4.10407410e-02 1.15837670e-02 9.99090323e-01 -9.63964677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.05, Z:-0.96 [[ 9.90649985e-01 1.28683138e-01 4.53128872e-02 2.50903742e+01] [-1.28958146e-01 9.91644917e-01 3.18685407e-03 -2.05244832e+00] [-4.45241999e-02 -9.00052286e-03 9.98967760e-01 -9.57376278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.293617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.05, Z:-0.96 [[ 9.90425577e-01 1.31059024e-01 4.33671426e-02 2.51241562e+01] [-1.30877600e-01 9.91373759e-01 -7.00887050e-03 -2.05087305e+00] [-4.39116229e-02 1.26597707e-03 9.99034617e-01 -9.63548883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617864999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.16, Y:-2.06, Z:-0.97 [[ 9.90289534e-01 1.32330522e-01 4.26060099e-02 2.51561420e+01] [-1.32156082e-01 9.91204920e-01 -6.89762186e-03 -2.05534484e+00] [-4.31440526e-02 1.19999942e-03 9.99068141e-01 -9.65412454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.353617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.19, Y:-2.06, Z:-0.97 [[ 9.90125399e-01 1.33481754e-01 4.28289079e-02 2.51883945e+01] [-1.33306073e-01 9.91050584e-01 -6.94486881e-03 -2.05933133e+00] [-4.33726274e-02 1.16693746e-03 9.99058283e-01 -9.67359488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.22, Y:-2.06, Z:-0.97 [[ 9.89994425e-01 1.34816699e-01 4.16592906e-02 2.52187740e+01] [-1.34576145e-01 9.90866466e-01 -8.53862215e-03 -2.06257502e+00] [-4.24299429e-02 2.84684160e-03 9.99095389e-01 -9.69812633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.413617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.25, Y:-2.07, Z:-0.96 [[ 9.90299566e-01 1.32087123e-01 4.31249468e-02 2.52475670e+01] [-1.32693432e-01 9.91090403e-01 1.15007347e-02 -2.07360540e+00] [-4.12216219e-02 -1.71115698e-02 9.99003490e-01 -9.60716481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.28, Y:-2.07, Z:-0.97 [[ 9.90343768e-01 1.32603281e-01 4.04424489e-02 2.52797385e+01] [-1.32181332e-01 9.91141000e-01 -1.29465368e-02 -2.06504722e+00] [-4.18009226e-02 7.47578527e-03 9.99097991e-01 -9.73259840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:-2.07, Z:-0.98 [[ 9.89986026e-01 1.35468993e-01 3.96966053e-02 2.53140667e+01] [-1.34894507e-01 9.90717159e-01 -1.68220707e-02 -2.07227096e+00] [-4.16069770e-02 1.12987609e-02 9.99070166e-01 -9.77558350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-2.08, Z:-0.98 [[ 9.90210636e-01 1.33706916e-01 4.00669121e-02 2.53453039e+01] [-1.33551001e-01 9.91020263e-01 -6.55507849e-03 -2.08280830e+00] [-4.05835811e-02 1.13993224e-03 9.99175497e-01 -9.75313910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.533617864999997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.09, Z:-0.97 [[ 9.90721650e-01 1.29749962e-01 4.04420465e-02 2.53729559e+01] [-1.30332876e-01 9.91396266e-01 1.21154586e-02 -2.09456834e+00] [-3.85221136e-02 -1.72739754e-02 9.99108431e-01 -9.66188191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:-2.09, Z:-0.98 [[ 9.90801774e-01 1.29737785e-01 3.84701495e-02 2.54057170e+01] [-1.29518654e-01 9.91543531e-01 -8.14523802e-03 -2.09005574e+00] [-3.92015730e-02 3.08771429e-03 9.99226552e-01 -9.75784479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.593617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.09, Z:-0.98 [[ 9.91157522e-01 1.26811247e-01 3.90598811e-02 2.54366313e+01] [-1.26434448e-01 9.91902616e-01 -1.19804161e-02 -2.09227331e+00] [-4.02628497e-02 6.93596499e-03 9.99165049e-01 -9.80619524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.10, Z:-0.98 [[ 9.91611022e-01 1.22644881e-01 4.08143765e-02 2.54662277e+01] [-1.22836392e-01 9.92424477e-01 2.20849808e-03 -2.10471264e+00] [-4.02343253e-02 -7.20346180e-03 9.99164305e-01 -9.76006541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.10, Z:-0.98 [[ 9.91638826e-01 1.22608554e-01 4.02440301e-02 2.54988917e+01] [-1.22232282e-01 9.92432673e-01 -1.16901198e-02 -2.10396657e+00] [-4.13727990e-02 6.67325707e-03 9.99121494e-01 -9.83033012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.11, Z:-0.98 [[ 9.92083642e-01 1.19267377e-01 3.93108128e-02 2.55300423e+01] [-1.18880302e-01 9.92835475e-01 -1.20496042e-02 -2.11082417e+00] [-4.04662942e-02 7.28093395e-03 9.99154376e-01 -9.84936575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.12, Z:-0.99 [[ 9.92177252e-01 1.17068570e-01 4.33503209e-02 2.55588263e+01] [-1.16951514e-01 9.93123826e-01 -5.23536064e-03 -2.11876427e+00] [-4.36651328e-02 1.24520063e-04 9.99046215e-01 -9.85518655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.12, Z:-0.99 [[ 9.92227161e-01 1.16610307e-01 4.34430299e-02 2.55907416e+01] [-1.16358549e-01 9.93172692e-01 -8.28808687e-03 -2.12293530e+00] [-4.41129073e-02 3.16869697e-03 9.99021527e-01 -9.89387987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.13, Z:-0.99 [[ 9.92195499e-01 1.17329542e-01 4.22122120e-02 2.56229670e+01] [-1.17400652e-01 9.93084311e-01 -7.99054234e-04 -2.13397555e+00] [-4.20140381e-02 -4.16292317e-03 9.99108348e-01 -9.85981876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.14, Z:-0.99 [[ 9.92235538e-01 1.16928700e-01 4.23829599e-02 2.56544703e+01] [-1.16785813e-01 9.93139952e-01 -5.84029658e-03 -2.13645923e+00] [-4.27751090e-02 8.45221378e-04 9.99084369e-01 -9.90779162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.15, Z:-0.99 [[ 9.92199837e-01 1.17391942e-01 4.19358525e-02 2.56851248e+01] [-1.17420993e-01 9.93080635e-01 -1.77829953e-03 -2.14567210e+00] [-4.18544411e-02 -3.15972093e-03 9.99118723e-01 -9.89174813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.15, Z:-0.99 [[ 9.92142044e-01 1.18050239e-01 4.14524593e-02 2.57171417e+01] [-1.17877237e-01 9.93006230e-01 -6.60179047e-03 -2.14867720e+00] [-4.19418933e-02 1.66361253e-03 9.99118667e-01 -9.92678931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.17, Z:-0.98 [[ 9.92015138e-01 1.18985320e-01 4.18145821e-02 2.57471355e+01] [-1.19414620e-01 9.92812927e-01 7.91462620e-03 -2.16556551e+00] [-4.05723333e-02 -1.28447014e-02 9.99094039e-01 -9.84286970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:25.78, Y:-2.16, Z:-1.00 [[ 9.91982278e-01 1.19370647e-01 4.14946806e-02 2.57784828e+01] [-1.18863599e-01 9.92804885e-01 -1.44880749e-02 -2.15960298e+00] [-4.29255725e-02 9.43970647e-03 9.99033677e-01 -9.96728202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.953617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.81, Y:-2.16, Z:-1.01 [[ 0.99142939 0.12351376 0.04256904 25.81241139] [-0.12221397 0.99199095 -0.03190149 -2.16084528] [-0.04616837 0.02642554 0.99858408 -1.00824997] [ 0. 0. 0. 1. ]] SLAMing on 25.983617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.19, Z:-0.99 [[ 9.91663961e-01 1.19753310e-01 4.75576872e-02 2.58382973e+01] [-1.20418954e-01 9.92657968e-01 1.13769012e-02 -2.18538796e+00] [-4.58460955e-02 -1.70089099e-02 9.98803701e-01 -9.92434744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.013617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.87, Y:-2.17, Z:-1.01 [[ 9.91729202e-01 1.21758104e-01 4.05974610e-02 2.58716197e+01] [-1.21045446e-01 9.92453795e-01 -1.95822376e-02 -2.17482089e+00] [-4.26754004e-02 1.45061391e-02 9.98983675e-01 -1.00765071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.19, Z:-1.00 [[ 9.91395523e-01 1.22765811e-01 4.54254567e-02 2.59008888e+01] [-1.22912051e-01 9.92417474e-01 4.29746730e-04 -2.19182916e+00] [-4.50282588e-02 -6.00938506e-03 9.98967639e-01 -1.00186466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.073617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.93, Y:-2.19, Z:-1.01 [[ 9.90766718e-01 1.28390397e-01 4.35570373e-02 2.59349652e+01] [-1.27551505e-01 9.91598184e-01 -2.15326574e-02 -2.19117367e+00] [-4.59556655e-02 1.57780746e-02 9.98818867e-01 -1.01323723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.21, Z:-1.01 [[ 9.90345235e-01 1.30344414e-01 4.71873914e-02 2.59653212e+01] [-1.30108673e-01 9.91467088e-01 -8.04648962e-03 -2.20579766e+00] [-4.78335606e-02 1.82931378e-03 9.98853645e-01 -1.00938107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-2.21, Z:-1.01 [[ 9.90127478e-01 1.31951004e-01 4.72917597e-02 2.59975582e+01] [-1.31715452e-01 9.91254663e-01 -8.07667317e-03 -2.21204350e+00] [-4.79439025e-02 1.76788053e-03 9.98848465e-01 -1.01084895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.22, Z:-1.01 [[ 9.89730771e-01 1.34787203e-01 4.75963400e-02 2.60301170e+01] [-1.34551273e-01 9.90873189e-01 -8.14118946e-03 -2.21869872e+00] [-4.82592654e-02 1.65343759e-03 9.98833474e-01 -1.01273141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.06, Y:-2.22, Z:-1.01 [[ 9.89418243e-01 1.36944819e-01 4.79338851e-02 2.60608252e+01] [-1.36732955e-01 9.90578120e-01 -7.68687412e-03 -2.22474688e+00] [-4.85349353e-02 1.05139173e-03 9.98820932e-01 -1.01464197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:26.09, Y:-2.23, Z:-1.02 [[ 9.89355479e-01 1.37585133e-01 4.73926976e-02 2.60936257e+01] [-1.37333627e-01 9.90488047e-01 -8.53831312e-03 -2.23014770e+00] [-4.81166455e-02 1.93881581e-03 9.98839842e-01 -1.01668689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:26.12, Y:-2.24, Z:-1.02 [[ 9.89007584e-01 1.40031189e-01 4.74896382e-02 2.61243526e+01] [-1.39800987e-01 9.90146071e-01 -8.15114425e-03 -2.23661612e+00] [-4.81630931e-02 1.42244516e-03 9.98838472e-01 -1.01890055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.15, Y:-2.24, Z:-1.02 [[ 9.89316186e-01 1.37529199e-01 4.83653214e-02 2.61519634e+01] [-1.37847122e-01 9.90448072e-01 3.28454585e-03 -2.24480011e+00] [-4.74516183e-02 -9.91647470e-03 9.98824313e-01 -1.01516107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.24, Z:-1.03 [[ 9.88701864e-01 1.42704623e-01 4.58695486e-02 2.61874670e+01] [-1.41956999e-01 9.89686998e-01 -1.91796053e-02 -2.24423552e+00] [-4.81335142e-02 1.24514080e-02 9.98763299e-01 -1.02567582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.26, Z:-1.02 [[ 9.88405364e-01 1.44168839e-01 4.76464248e-02 2.62187284e+01] [-1.43939961e-01 9.89552296e-01 -8.21836626e-03 -2.25657607e+00] [-4.83334613e-02 1.26485276e-03 9.98830454e-01 -1.02289783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.373617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.25, Y:-2.26, Z:-1.03 [[ 9.88222741e-01 1.45309688e-01 4.79677872e-02 2.62510127e+01] [-1.45078389e-01 9.89385456e-01 -8.28739706e-03 -2.26248766e+00] [-4.86628701e-02 1.23070493e-03 9.98814503e-01 -1.02524647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.27, Z:-1.03 [[ 9.88007357e-01 1.46723671e-01 4.81001817e-02 2.62831441e+01] [-1.46492105e-01 9.89176818e-01 -8.32380054e-03 -2.26832699e+00] [-4.88008832e-02 1.17767930e-03 9.98807833e-01 -1.02714134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.31, Y:-2.27, Z:-1.03 [[ 9.87804249e-01 1.47952037e-01 4.85073129e-02 2.63142157e+01] [-1.47717322e-01 9.88993880e-01 -8.40823066e-03 -2.27394105e+00] [-4.92174504e-02 1.14031560e-03 9.98787436e-01 -1.02896754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.28, Z:-1.03 [[ 9.87377433e-01 1.50422815e-01 4.95860948e-02 2.63449895e+01] [-1.50179970e-01 9.88621195e-01 -8.60866675e-03 -2.28077071e+00] [-5.03168042e-02 1.05316505e-03 9.98732752e-01 -1.03032071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.29, Z:-1.03 [[ 9.87131120e-01 1.51933058e-01 4.98848491e-02 2.63774041e+01] [-1.51688538e-01 9.88390285e-01 -8.67361807e-03 -2.28804697e+00] [-5.06235096e-02 9.95038509e-04 9.98717312e-01 -1.03149537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-2.30, Z:-1.03 [[ 9.86979310e-01 1.52857820e-01 5.00632411e-02 2.64085427e+01] [-1.52612022e-01 9.88247720e-01 -8.71866022e-03 -2.29503486e+00] [-5.08075993e-02 9.64884799e-04 9.98707994e-01 -1.03260901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.30, Z:-1.03 [[ 9.86706323e-01 1.54637773e-01 4.99779089e-02 2.64406178e+01] [-1.54394437e-01 9.87970838e-01 -8.71669617e-03 -2.30250422e+00] [-5.07246470e-02 8.84508106e-04 9.98712285e-01 -1.03380617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.47, Y:-2.31, Z:-1.04 [[ 9.86570504e-01 1.55529910e-01 4.98907668e-02 2.64728665e+01] [-1.55287873e-01 9.87830817e-01 -8.71510137e-03 -2.30860412e+00] [-5.06390959e-02 8.50630906e-04 9.98716656e-01 -1.03603633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:-2.32, Z:-1.03 [[ 9.86771233e-01 1.54028734e-01 5.05735324e-02 2.64974693e+01] [-1.54457297e-01 9.87988501e-01 4.65458646e-03 -2.31649492e+00] [-4.92491284e-02 -1.24044631e-02 9.98709494e-01 -1.03108264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:-2.32, Z:-1.04 [[ 9.86185387e-01 1.58914379e-01 4.67397373e-02 2.65348947e+01] [-1.58077681e-01 9.87201060e-01 -2.11071852e-02 -2.31576090e+00] [-4.94957535e-02 1.34270883e-02 9.98684076e-01 -1.04460761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.673617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.33, Z:-1.04 [[ 9.85850707e-01 1.60091942e-01 4.96885709e-02 2.65652691e+01] [-1.59855560e-01 9.87101890e-01 -8.72115202e-03 -2.32659324e+00] [-5.04438684e-02 6.54759569e-04 9.98726683e-01 -1.04112896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.33, Z:-1.04 [[ 9.85443208e-01 1.62455625e-01 5.00984379e-02 2.65975929e+01] [-1.62217729e-01 9.86715697e-01 -8.80577667e-03 -2.33224981e+00] [-5.08634630e-02 5.50737985e-04 9.98705464e-01 -1.04262598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.733617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.34, Z:-1.04 [[ 9.85230080e-01 1.63549506e-01 5.07271987e-02 2.66289009e+01] [-1.63306292e-01 9.86534994e-01 -8.93091924e-03 -2.33689842e+00] [-5.15048041e-02 5.14939570e-04 9.98672614e-01 -1.04415146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.34, Z:-1.05 [[ 9.85134584e-01 1.64131453e-01 5.07022521e-02 2.66612815e+01] [-1.63888557e-01 9.86438350e-01 -8.93993146e-03 -2.34231500e+00] [-5.14819699e-02 4.97516732e-04 9.98673800e-01 -1.04590059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.35, Z:-1.05 [[ 9.84824652e-01 1.65762647e-01 5.14115663e-02 2.66938710e+01] [-1.65514405e-01 9.86165584e-01 -9.07871800e-03 -2.34546711e+00] [-5.22052296e-02 4.31590477e-04 9.98636284e-01 -1.04730870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.35, Z:-1.05 [[ 9.84847704e-01 1.65899349e-01 5.05213492e-02 2.67261089e+01] [-1.65659094e-01 9.86142596e-01 -8.93555421e-03 -2.35148306e+00] [-5.13036571e-02 4.30839078e-04 9.98683007e-01 -1.04886447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.853617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.35, Z:-1.05 [[ 9.84877123e-01 1.66380274e-01 4.83182951e-02 2.67591155e+01] [-1.66160472e-01 9.86061582e-01 -8.55883909e-03 -2.35459403e+00] [-4.90688365e-02 4.00814093e-04 9.98795319e-01 -1.05170855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.36, Z:-1.05 [[ 9.84993076e-01 1.66133493e-01 4.67792996e-02 2.67918158e+01] [-1.65926602e-01 9.86103185e-01 -8.29882563e-03 -2.35955422e+00] [-4.75079292e-02 4.12355574e-04 9.98870776e-01 -1.05439529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.913617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.37, Z:-1.06 [[ 9.85154843e-01 1.65574627e-01 4.53318714e-02 2.68227205e+01] [-1.65379164e-01 9.86197166e-01 -8.05490362e-03 -2.36525017e+00] [-4.60398508e-02 4.38380297e-04 9.98939508e-01 -1.05575094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.85, Y:-2.37, Z:-1.06 [[ 9.85710349e-01 1.62293317e-01 4.51219123e-02 2.68538480e+01] [-1.62095893e-01 9.86742380e-01 -8.02478612e-03 -2.37074553e+00] [-4.58260723e-02 5.96038038e-04 9.98949256e-01 -1.05717442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.973617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.89, Y:-2.38, Z:-1.06 [[ 9.86008084e-01 1.60403430e-01 4.53739898e-02 2.68863246e+01] [-1.60201264e-01 9.87051291e-01 -8.08109225e-03 -2.37563086e+00] [-4.60826901e-02 6.99051785e-04 9.98937384e-01 -1.05884898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:26.92, Y:-2.38, Z:-1.06 [[ 9.87135118e-01 1.53446677e-01 4.49263367e-02 2.69172974e+01] [-1.53240690e-01 9.88156396e-01 -8.01420355e-03 -2.38145757e+00] [-4.56239999e-02 1.02655892e-03 9.98958156e-01 -1.06033224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.033617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:26.95, Y:-2.39, Z:-1.06 [[ 9.87548707e-01 1.50548448e-01 4.56367788e-02 2.69493285e+01] [-1.50332198e-01 9.88601914e-01 -8.15386551e-03 -2.38653046e+00] [-4.63441587e-02 1.19166206e-03 9.98924821e-01 -1.06157069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.40, Z:-1.05 [[ 9.88561205e-01 1.42942578e-01 4.81057488e-02 2.69731424e+01] [-1.43873598e-01 9.89459104e-01 1.64642057e-02 -2.39717539e+00] [-4.52452350e-02 -2.31970222e-02 9.98706547e-01 -1.05012458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.093617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.01, Y:-2.39, Z:-1.07 [[ 9.88143867e-01 1.47636477e-01 4.21327603e-02 2.70135244e+01] [-1.46347248e-01 9.88708583e-01 -3.22152299e-02 -2.38501082e+00] [-4.64131648e-02 2.56672683e-02 9.98592514e-01 -1.07416057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.04, Y:-2.40, Z:-1.07 [[ 9.88753741e-01 1.42221848e-01 4.62491756e-02 2.70434101e+01] [-1.41988987e-01 9.89833452e-01 -8.29854379e-03 -2.40391670e+00] [-4.69592153e-02 1.63834264e-03 9.98895464e-01 -1.06530296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.07, Y:-2.42, Z:-1.04 [[ 0.9895901 0.13594417 0.04722936 27.06869013] [-0.13751404 0.98999118 0.03173871 -2.42435453] [-0.04244196 -0.03790301 0.99837971 -1.04244241] [ 0. 0. 0. 1. ]] SLAMing on 27.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.41, Z:-1.06 [[ 9.89757228e-01 1.36950511e-01 4.03136074e-02 2.71035741e+01] [-1.36485066e-01 9.90541880e-01 -1.40929231e-02 -2.40575658e+00] [-4.18623495e-02 8.44636711e-03 9.99087685e-01 -1.06417054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.40, Z:-1.08 [[ 0.98953095 0.13841854 0.04085113 27.14014444] [-0.13675039 0.98975043 -0.04115113 -2.40017608] [-0.0461285 0.0351339 0.99831747 -1.08453329] [ 0. 0. 0. 1. ]] SLAMing on 27.243617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.42, Z:-1.07 [[ 9.89595183e-01 1.36144924e-01 4.65395932e-02 2.71691390e+01] [-1.35900379e-01 9.90686950e-01 -8.39370006e-03 -2.42238552e+00] [-4.72489273e-02 1.98161680e-03 9.98881180e-01 -1.07410803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.43, Z:-1.08 [[ 9.89671007e-01 1.35551388e-01 4.66596040e-02 2.72008628e+01] [-1.35304335e-01 9.90768243e-01 -8.42770035e-03 -2.42799116e+00] [-4.73712404e-02 2.02740402e-03 9.98875295e-01 -1.07573945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.43, Z:-1.08 [[ 9.89760403e-01 1.34861067e-01 4.67636243e-02 2.72326026e+01] [-1.34611569e-01 9.90862341e-01 -8.45853364e-03 -2.43469539e+00] [-4.74770411e-02 2.07699682e-03 9.98870170e-01 -1.07666196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.45, Z:-1.06 [[ 9.90180441e-01 1.32198818e-01 4.54551127e-02 2.72609973e+01] [-1.33274745e-01 9.90845844e-01 2.15024515e-02 -2.45337980e+00] [-4.21964108e-02 -2.73493254e-02 9.98734938e-01 -1.05753969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.45, Z:-1.07 [[ 9.90126717e-01 1.34176742e-01 4.05670553e-02 2.72940622e+01] [-1.34163488e-01 9.90954483e-01 -3.06134409e-03 -2.44709982e+00] [-4.06108664e-02 -2.41149907e-03 9.99172128e-01 -1.06768866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.43, Z:-1.10 [[ 0.9897281 0.13686977 0.04129114 27.3290039 ] [-0.1351664 0.98995064 -0.04156658 -2.43145215] [-0.0465654 0.03555844 0.99828215 -1.09595897] [ 0. 0. 0. 1. ]] SLAMing on 27.423617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.45, Z:-1.09 [[ 9.89615285e-01 1.35876951e-01 4.68939458e-02 2.73587126e+01] [-1.35624881e-01 9.90723533e-01 -8.53068863e-03 -2.45348163e+00] [-4.76180596e-02 2.08211401e-03 9.98863447e-01 -1.08635511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.46, Z:-1.09 [[ 9.89544642e-01 1.36596816e-01 4.62894198e-02 2.73907741e+01] [-1.36351398e-01 9.90624638e-01 -8.43339281e-03 -2.45954849e+00] [-4.70074143e-02 2.03359159e-03 9.98892470e-01 -1.08825976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.47, Z:-1.09 [[ 9.89518743e-01 1.36937116e-01 4.58354069e-02 2.74227321e+01] [-1.36696258e-01 9.90577703e-01 -8.36349004e-03 -2.46791885e+00] [-4.65488042e-02 2.01030155e-03 9.98913994e-01 -1.08863895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.47, Z:-1.09 [[ 9.89537275e-01 1.36737969e-01 4.60294477e-02 2.74543505e+01] [-1.36494194e-01 9.90605147e-01 -8.41293784e-03 -2.47422834e+00] [-4.67473759e-02 2.04216322e-03 9.98904656e-01 -1.08994624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.48, Z:-1.09 [[ 9.89562084e-01 1.36447634e-01 4.63565044e-02 2.74871825e+01] [-1.36199712e-01 9.90645106e-01 -8.48014345e-03 -2.48004261e+00] [-4.70799397e-02 2.07788588e-03 9.98888964e-01 -1.09196581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.49, Z:-1.10 [[ 9.89690560e-01 1.35363992e-01 4.67887288e-02 2.75196745e+01] [-1.35109595e-01 9.90793578e-01 -8.57222778e-03 -2.48516995e+00] [-4.75183430e-02 2.16224673e-03 9.98868025e-01 -1.09519308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999993 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.49, Z:-1.10 [[ 9.89723436e-01 1.35110344e-01 4.68264314e-02 2.75510096e+01] [-1.34854616e-01 9.90828139e-01 -8.59252979e-03 -2.49107633e+00] [-4.75578856e-02 2.18946770e-03 9.98866084e-01 -1.09711772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.633617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.50, Z:-1.10 [[ 9.89700275e-01 1.35307097e-01 4.67477746e-02 2.75829827e+01] [-1.35051870e-01 9.90801292e-01 -8.59021392e-03 -2.49769438e+00] [-4.74800724e-02 2.18836269e-03 9.98869788e-01 -1.09873885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.51, Z:-1.10 [[ 9.89611408e-01 1.35684773e-01 4.75279163e-02 2.76143376e+01] [-1.35420716e-01 9.90749571e-01 -8.74738287e-03 -2.50544889e+00] [-4.82751493e-02 2.22024544e-03 9.98831608e-01 -1.10024686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693617864999993 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.51, Z:-1.10 [[ 9.89528821e-01 1.36311435e-01 4.74542491e-02 2.76468923e+01] [-1.36048323e-01 9.90663596e-01 -8.74610151e-03 -2.51250114e+00] [-4.82033907e-02 2.19844852e-03 9.98835122e-01 -1.10187934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.52, Z:-1.10 [[ 9.89402962e-01 1.37195266e-01 4.75314472e-02 2.76783714e+01] [-1.36931648e-01 9.90541639e-01 -8.77411456e-03 -2.51898529e+00] [-4.82856446e-02 2.17257556e-03 9.98831205e-01 -1.10379490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.53, Z:-1.11 [[ 9.89386910e-01 1.37311823e-01 4.75290012e-02 2.77112116e+01] [-1.37047705e-01 9.90525471e-01 -8.78734336e-03 -2.52513712e+00] [-4.82852924e-02 2.18034198e-03 9.98831205e-01 -1.10565291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.53, Z:-1.11 [[ 9.89036339e-01 1.40424463e-01 4.56956270e-02 2.77433110e+01] [-1.40031726e-01 9.90077876e-01 -1.17010902e-02 -2.53000251e+00] [-4.68853487e-02 5.17396587e-03 9.98886878e-01 -1.10908817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.55, Z:-1.09 [[ 9.89322234e-01 1.38101096e-01 4.65790205e-02 2.77693364e+01] [-1.39023530e-01 9.90140273e-01 1.71667906e-02 -2.54584833e+00] [-4.37490114e-02 -2.34590675e-02 9.98767088e-01 -1.09380306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.80, Y:-2.54, Z:-1.11 [[ 9.88557772e-01 1.43952198e-01 4.50699133e-02 2.78011640e+01] [-1.43806715e-01 9.89584639e-01 -6.47078881e-03 -2.53921479e+00] [-4.55319782e-02 -8.46076038e-05 9.98962878e-01 -1.10645715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.83, Y:-2.54, Z:-1.11 [[ 9.88246183e-01 1.45885562e-01 4.56824246e-02 2.78319289e+01] [-1.45561136e-01 9.89294937e-01 -1.03674620e-02 -2.54261330e+00] [-4.67058544e-02 3.59601912e-03 9.98902213e-01 -1.11101174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.54, Z:-1.12 [[ 9.87167018e-01 1.53510605e-01 4.39974187e-02 2.78685461e+01] [-1.52247877e-01 9.87863500e-01 -3.07618276e-02 -2.54479801e+00] [-4.81857108e-02 2.36685481e-02 9.98557929e-01 -1.12439252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.56, Z:-1.12 [[ 9.86826790e-01 1.54197977e-01 4.89476301e-02 2.78979229e+01] [-1.54034213e-01 9.88039839e-01 -7.12304482e-03 -2.56411540e+00] [-4.94605677e-02 -5.10398262e-04 9.98775947e-01 -1.11672620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.57, Z:-1.12 [[ 9.86355240e-01 1.57190583e-01 4.89332302e-02 2.79298199e+01] [-1.56929957e-01 9.87567373e-01 -9.14727700e-03 -2.57025725e+00] [-4.97627274e-02 1.34337489e-03 9.98760165e-01 -1.11962952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.58, Z:-1.12 [[ 9.86111872e-01 1.58481303e-01 4.96694229e-02 2.79614334e+01] [-1.58213674e-01 9.87361107e-01 -9.29933724e-03 -2.57587995e+00] [-5.05154274e-02 1.31180500e-03 9.98722419e-01 -1.12190568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.58, Z:-1.12 [[ 9.85782998e-01 1.60317738e-01 5.03001421e-02 2.79935833e+01] [-1.60044965e-01 9.87064673e-01 -9.43078840e-03 -2.58194470e+00] [-5.11614160e-02 1.24642637e-03 9.98689619e-01 -1.12421782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.053617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.59, Z:-1.13 [[ 9.85212190e-01 1.63832818e-01 5.01572455e-02 2.80256487e+01] [-1.63565431e-01 9.86487533e-01 -9.41791267e-03 -2.58952490e+00] [-5.10224605e-02 1.07465091e-03 9.98696928e-01 -1.12590323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.59, Z:-1.13 [[ 9.85670479e-01 1.60137051e-01 5.30078542e-02 2.80509733e+01] [-1.59581286e-01 9.87077064e-01 -1.45836520e-02 -2.58599864e+00] [-5.46582202e-02 5.91561376e-03 9.98487599e-01 -1.13392241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.61, Z:-1.13 [[ 9.84254757e-01 1.69092930e-01 5.14796448e-02 2.80875947e+01] [-1.69117038e-01 9.85588185e-01 -3.91891984e-03 -2.60554250e+00] [-5.14003913e-02 -4.84886956e-03 9.98666355e-01 -1.12621167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.61, Z:-1.13 [[ 9.84080787e-01 1.70434622e-01 5.03690884e-02 2.81188935e+01] [-1.70171795e-01 9.85368685e-01 -9.49282687e-03 -2.60853987e+00] [-5.12500288e-02 7.70310325e-04 9.98685557e-01 -1.13084363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.61, Z:-1.13 [[ 9.83884828e-01 1.71482071e-01 5.06413317e-02 2.81511393e+01] [-1.71217096e-01 9.85186968e-01 -9.55738781e-03 -2.61416200e+00] [-5.15301007e-02 7.32707124e-04 9.98671173e-01 -1.13322596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.62, Z:-1.14 [[ 9.83940431e-01 1.71261833e-01 5.03052036e-02 2.81819952e+01] [-1.70999341e-01 9.85225262e-01 -9.50833970e-03 -2.62070262e+00] [-5.11903731e-02 7.53483183e-04 9.98688629e-01 -1.13578530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.63, Z:-1.14 [[ 9.83954861e-01 1.71123519e-01 5.04932950e-02 2.82145015e+01] [-1.70858457e-01 9.85249281e-01 -9.55205692e-03 -2.62665787e+00] [-5.13830642e-02 7.71586344e-04 9.98678720e-01 -1.13770076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.63, Z:-1.14 [[ 9.84127277e-01 1.70105132e-01 5.05741789e-02 2.82453745e+01] [-1.69837137e-01 9.85425562e-01 -9.58168829e-03 -2.63247236e+00] [-5.14669830e-02 8.40227026e-04 9.98674343e-01 -1.13942855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.293617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.64, Z:-1.14 [[ 9.84309309e-01 1.68932440e-01 5.09609205e-02 2.82774356e+01] [-1.68658334e-01 9.85627207e-01 -9.66309739e-03 -2.63814381e+00] [-5.18608803e-02 9.16492768e-04 9.98653899e-01 -1.14134261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.64, Z:-1.14 [[ 9.85167559e-01 1.63434978e-01 5.22865997e-02 2.83053968e+01] [-1.63451531e-01 9.86543304e-01 -3.98835190e-03 -2.64247832e+00] [-5.22348310e-02 -4.61712986e-03 9.98624156e-01 -1.14079554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.65, Z:-1.15 [[ 9.85556003e-01 1.61302674e-01 5.15830572e-02 2.83411340e+01] [-1.60724275e-01 9.86882320e-01 -1.51984738e-02 -2.64803426e+00] [-5.33579617e-02 6.68829764e-03 9.98553050e-01 -1.14620140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.66, Z:-1.15 [[ 9.85965332e-01 1.58193765e-01 5.33581861e-02 2.83734101e+01] [-1.57875336e-01 9.87406806e-01 -1.01576268e-02 -2.65749746e+00] [-5.42931093e-02 1.59112634e-03 9.98523774e-01 -1.14560866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.66, Z:-1.15 [[ 9.86385643e-01 1.55482027e-01 5.35602618e-02 2.84049791e+01] [-1.55156356e-01 9.87837150e-01 -1.02113184e-02 -2.66417469e+00] [-5.44964928e-02 1.76208288e-03 9.98512407e-01 -1.14631835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.67, Z:-1.15 [[ 9.87099041e-01 1.50742141e-01 5.39656358e-02 2.84370842e+01] [-1.50403934e-01 9.88570995e-01 -1.02978213e-02 -2.67082214e+00] [-5.49011779e-02 2.04832562e-03 9.98489692e-01 -1.14729743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.68, Z:-1.15 [[ 9.87377005e-01 1.49055038e-01 5.35653457e-02 2.84695519e+01] [-1.48718564e-01 9.88826584e-01 -1.02359899e-02 -2.67655812e+00] [-5.44925637e-02 2.14061979e-03 9.98511882e-01 -1.14868631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.68, Z:-1.15 [[ 9.87585650e-01 1.47587236e-01 5.37828276e-02 2.85012114e+01] [-1.47245031e-01 9.89046493e-01 -1.02924900e-02 -2.68181591e+00] [-5.47127572e-02 2.24546135e-03 9.98499610e-01 -1.15101488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.69, Z:-1.15 [[ 9.87710881e-01 1.46704963e-01 5.38968338e-02 2.85339575e+01] [-1.46359503e-01 9.89177601e-01 -1.03232507e-02 -2.68692049e+00] [-5.48280129e-02 2.30807327e-03 9.98493146e-01 -1.15356870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.69, Z:-1.16 [[ 9.87828293e-01 1.45917307e-01 5.38832336e-02 2.85667334e+01] [-1.45570060e-01 9.89293962e-01 -1.03350763e-02 -2.69184005e+00] [-5.48144241e-02 2.36549530e-03 9.98493757e-01 -1.15611016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.593617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.70, Z:-1.16 [[ 9.87838753e-01 1.45944624e-01 5.36168399e-02 2.85975416e+01] [-1.45600035e-01 9.89289929e-01 -1.02988160e-02 -2.69797900e+00] [-5.45456566e-02 2.36695573e-03 9.98508472e-01 -1.15775387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.70, Z:-1.16 [[ 9.87872201e-01 1.45934752e-01 5.30241716e-02 2.86299979e+01] [-1.45597006e-01 9.89291415e-01 -1.01984100e-02 -2.70455171e+00] [-5.39446602e-02 2.35456512e-03 9.98541151e-01 -1.15904172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.71, Z:-1.16 [[ 9.87895326e-01 1.45904600e-01 5.26751701e-02 2.86613910e+01] [-1.45570452e-01 9.89295861e-01 -1.01460952e-02 -2.71065785e+00] [-5.35916897e-02 2.35533174e-03 9.98560155e-01 -1.16081056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.72, Z:-1.16 [[ 9.87894635e-01 1.46033738e-01 5.23291297e-02 2.86937748e+01] [-1.45703427e-01 9.89276828e-01 -1.00930415e-02 -2.71736196e+00] [-5.32419200e-02 2.34632804e-03 9.98578887e-01 -1.16250886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.72, Z:-1.16 [[ 9.87892152e-01 1.45948520e-01 5.26129828e-02 2.87263690e+01] [-1.45613714e-01 9.89289328e-01 -1.01622861e-02 -2.72402775e+00] [-5.35326330e-02 2.37807083e-03 9.98563269e-01 -1.16428894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.73, Z:-1.17 [[ 9.88019973e-01 1.46308625e-01 4.90950022e-02 2.87586939e+01] [-1.45605000e-01 9.89185638e-01 -1.76340105e-02 -2.72599785e+00] [-5.11440789e-02 1.02742768e-02 9.98638434e-01 -1.16937554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.73, Z:-1.17 [[ 9.88034298e-01 1.46464448e-01 4.83362433e-02 2.87906417e+01] [-1.45923585e-01 9.89188803e-01 -1.45539970e-02 -2.73356142e+00] [-4.99453138e-02 7.32645036e-03 9.98725082e-01 -1.17029911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.75, Z:-1.17 [[ 9.87912806e-01 1.45285735e-01 5.40401979e-02 2.88212107e+01] [-1.45627984e-01 9.89336439e-01 2.42928068e-03 -2.74860118e+00] [-5.31109971e-02 -1.02696826e-02 9.98535806e-01 -1.16507328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.74, Z:-1.18 [[ 9.88236782e-01 1.43028681e-01 5.41374174e-02 2.88505254e+01] [-1.42203290e-01 9.89658487e-01 -1.88229590e-02 -2.73870235e+00] [-5.62697776e-02 1.09030215e-02 9.98356067e-01 -1.18155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.75, Z:-1.18 [[ 9.88129262e-01 1.43433030e-01 5.50229732e-02 2.88817596e+01] [-1.43128757e-01 9.89658942e-01 -9.45182784e-03 -2.75026606e+00] [-5.58096817e-02 1.46425789e-03 9.98440351e-01 -1.17898194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.76, Z:-1.17 [[ 9.87882285e-01 1.46166815e-01 5.21905462e-02 2.89151618e+01] [-1.46267377e-01 9.89243253e-01 -1.90810885e-03 -2.76439943e+00] [-5.19080479e-02 -5.74878734e-03 9.98635322e-01 -1.17254384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.75, Z:-1.19 [[ 9.88259272e-01 1.42967302e-01 5.38884242e-02 2.89446329e+01] [-1.41889148e-01 9.89607159e-01 -2.33482386e-02 -2.75336086e+00] [-5.66664050e-02 1.54279307e-02 9.98273959e-01 -1.19124592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.78, Z:-1.17 [[ 9.87855557e-01 1.46101591e-01 5.28746076e-02 2.89771790e+01] [-1.46484866e-01 9.89206977e-01 3.42650630e-03 -2.77836810e+00] [-5.18033128e-02 -1.11302231e-02 9.98595281e-01 -1.17407025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.77, Z:-1.19 [[ 9.88143882e-01 1.44280999e-01 5.24848743e-02 2.90088077e+01] [-1.43326824e-01 9.89441180e-01 -2.15307339e-02 -2.76505251e+00] [-5.50371717e-02 1.37529726e-02 9.98389586e-01 -1.19397038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.79, Z:-1.18 [[ 9.87804819e-01 1.46878934e-01 5.16548080e-02 2.90413708e+01] [-1.47167514e-01 9.89109931e-01 1.80752493e-03 -2.78675671e+00] [-5.08267963e-02 -9.38739154e-03 9.98663364e-01 -1.18004370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.79, Z:-1.19 [[ 9.87736114e-01 1.48130922e-01 4.93416516e-02 2.90745228e+01] [-1.47831704e-01 9.88965162e-01 -9.67961380e-03 -2.78656729e+00] [-5.02310246e-02 2.26664368e-03 9.98735053e-01 -1.18645760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.073617864999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.78, Z:-1.20 [[ 9.88082138e-01 1.45202072e-01 5.10886254e-02 2.91033739e+01] [-1.44403740e-01 9.89336332e-01 -1.90048017e-02 -2.78166124e+00] [-5.33033698e-02 1.14009165e-02 9.98513280e-01 -1.19765392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.80, Z:-1.19 [[ 9.87742450e-01 1.48052901e-01 4.94488693e-02 2.91364741e+01] [-1.48235585e-01 9.88952077e-01 2.74121542e-05 -2.80228740e+00] [-4.88985036e-02 -7.35715820e-03 9.98776656e-01 -1.18597283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.80, Z:-1.19 [[ 9.87753657e-01 1.48840705e-01 4.67884436e-02 2.91683957e+01] [-1.48570872e-01 9.88858853e-01 -9.21225899e-03 -2.80227147e+00] [-4.76383258e-02 2.14804264e-03 9.98862341e-01 -1.19150175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.81, Z:-1.19 [[ 9.87715847e-01 1.49746044e-01 4.46489333e-02 2.92013378e+01] [-1.49500765e-01 9.88722432e-01 -8.80197173e-03 -2.80566922e+00] [-4.54634623e-02 2.01879731e-03 9.98963962e-01 -1.19378981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.193617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.81, Z:-1.20 [[ 9.87955776e-01 1.47951038e-01 4.53196950e-02 2.92311793e+01] [-1.47771386e-01 9.88994549e-01 -7.30755102e-03 -2.80824334e+00] [-4.59020910e-02 5.22583121e-04 9.98945807e-01 -1.19736856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.81, Z:-1.20 [[ 9.87824246e-01 1.49384435e-01 4.34459408e-02 2.92642435e+01] [-1.49092961e-01 9.88773706e-01 -9.89181246e-03 -2.81491248e+00] [-4.44358867e-02 3.29388821e-03 9.99006808e-01 -1.19840543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.82, Z:-1.20 [[ 9.87940944e-01 1.48514222e-01 4.37746086e-02 2.92955619e+01] [-1.48275931e-01 9.88908118e-01 -8.65926655e-03 -2.82145613e+00] [-4.45750900e-02 2.06412313e-03 9.99003904e-01 -1.19943567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.83, Z:-1.20 [[ 9.88078008e-01 1.47704255e-01 4.34200684e-02 2.93283821e+01] [-1.47468536e-01 9.89029355e-01 -8.60032537e-03 -2.82749099e+00] [-4.42140269e-02 2.09469844e-03 9.99019886e-01 -1.20091327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.313617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.83, Z:-1.20 [[ 9.88332565e-01 1.46444672e-01 4.18652508e-02 2.93606716e+01] [-1.46223946e-01 9.89216666e-01 -8.30338583e-03 -2.83168944e+00] [-4.26297904e-02 2.08480446e-03 9.99088762e-01 -1.20334126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.84, Z:-1.21 [[ 9.88336417e-01 1.46606709e-01 4.12019340e-02 2.93920371e+01] [-1.46392570e-01 9.89192723e-01 -8.18363711e-03 -2.83657668e+00] [-4.19564294e-02 2.05652957e-03 9.99117325e-01 -1.20584800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.373617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.84, Z:-1.21 [[ 9.88275169e-01 1.47140264e-01 4.07668036e-02 2.94246845e+01] [-1.46930644e-01 9.89113568e-01 -8.10768232e-03 -2.84199236e+00] [-4.15159651e-02 2.02272840e-03 9.99135793e-01 -1.20782745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.85, Z:-1.21 [[ 9.88081216e-01 1.48316094e-01 4.12049436e-02 2.94557514e+01] [-1.48102454e-01 9.88937971e-01 -8.20687673e-03 -2.84741448e+00] [-4.19663452e-02 2.00650747e-03 9.99117010e-01 -1.20851090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.85, Z:-1.21 [[ 9.87897204e-01 1.49456974e-01 4.14936950e-02 2.94879735e+01] [-1.49240876e-01 9.88766243e-01 -8.27515044e-03 -2.85359727e+00] [-4.22643438e-02 1.98244261e-03 9.99104497e-01 -1.20951412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.86, Z:-1.21 [[ 9.87730373e-01 1.50587212e-01 4.13787696e-02 2.95203052e+01] [-1.50372809e-01 9.88594825e-01 -8.26384225e-03 -2.85887566e+00] [-4.21512665e-02 1.94020617e-03 9.99109357e-01 -1.21113478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.86, Z:-1.21 [[ 9.87454580e-01 1.52274974e-01 4.17825994e-02 2.95526158e+01] [-1.52057365e-01 9.88336344e-01 -8.35632990e-03 -2.86376249e+00] [-4.25677215e-02 1.89814425e-03 9.99091781e-01 -1.21333267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.87, Z:-1.21 [[ 9.87552953e-01 1.51933955e-01 4.06846224e-02 2.95855842e+01] [-1.51726801e-01 9.88388868e-01 -8.15000411e-03 -2.86597383e+00] [-4.14504903e-02 1.87561303e-03 9.99138799e-01 -1.21499016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.87, Z:-1.22 [[ 9.86492348e-01 1.58143360e-01 4.27027436e-02 2.96166522e+01] [-1.57920752e-01 9.87414701e-01 -8.55834268e-03 -2.87198842e+00] [-4.35187619e-02 1.69909018e-03 9.99051165e-01 -1.21759814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.65, Y:-2.88, Z:-1.22 [[ 9.86229533e-01 1.60426639e-01 4.01820978e-02 2.96496687e+01] [-1.60231035e-01 9.87046606e-01 -8.06305452e-03 -2.87706016e+00] [-4.09551320e-02 1.51360338e-03 9.99159840e-01 -1.21758044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.613617864999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.88, Z:-1.22 [[ 9.85726377e-01 1.62812231e-01 4.28449302e-02 2.96809628e+01] [-1.62591484e-01 9.86655898e-01 -8.61090179e-03 -2.88421237e+00] [-4.36751632e-02 1.52177225e-03 9.99044626e-01 -1.22002462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.89, Z:-1.22 [[ 9.85493897e-01 1.64246884e-01 4.27169857e-02 2.97131367e+01] [-1.64028317e-01 9.86418175e-01 -8.59624419e-03 -2.89037733e+00] [-4.35487174e-02 1.46475090e-03 9.99050231e-01 -1.22149562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.90, Z:-1.22 [[ 9.85462387e-01 1.64436511e-01 4.27143834e-02 2.97458576e+01] [-1.64217564e-01 9.86386574e-01 -8.60915330e-03 -2.89703570e+00] [-4.35485534e-02 1.46954479e-03 9.99050231e-01 -1.22336478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617864999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.90, Z:-1.23 [[ 9.85424700e-01 1.65367676e-01 3.98960091e-02 2.97778272e+01] [-1.65177138e-01 9.86231074e-01 -8.04865064e-03 -2.89963331e+00] [-4.06776706e-02 1.34143054e-03 9.99171421e-01 -1.22622428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.90, Z:-1.23 [[ 9.85072961e-01 1.67028415e-01 4.16265511e-02 2.98104183e+01] [-1.66822192e-01 9.85951179e-01 -8.40407372e-03 -2.90433942e+00] [-4.24454663e-02 1.33439329e-03 9.99097894e-01 -1.22892874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.91, Z:-1.23 [[ 9.84609960e-01 1.69292570e-01 4.33964661e-02 2.98426114e+01] [-1.69070009e-01 9.85564979e-01 -8.77520641e-03 -2.91032834e+00] [-4.42556144e-02 1.30311471e-03 9.99019390e-01 -1.23204660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.92, Z:-1.23 [[ 9.83909899e-01 1.74034092e-01 4.04159043e-02 2.98739252e+01] [-1.73844578e-01 9.84739093e-01 -8.18423648e-03 -2.91762385e+00] [-4.12234571e-02 1.02646548e-03 9.99149425e-01 -1.22958374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.92, Z:-1.23 [[ 9.83627045e-01 1.75494903e-01 4.09801818e-02 2.99059051e+01] [-1.75300727e-01 9.84479839e-01 -8.31274871e-03 -2.92422719e+00] [-4.18030078e-02 9.92788787e-04 9.99125379e-01 -1.23229596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.853617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.93, Z:-1.24 [[ 9.83432933e-01 1.76338417e-01 4.20051004e-02 2.99376532e+01] [-1.76135008e-01 9.84329108e-01 -8.52443746e-03 -2.92939069e+00] [-4.28500288e-02 9.84643861e-04 9.99081031e-01 -1.23543979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.94, Z:-1.24 [[ 9.83490783e-01 1.75346364e-01 4.47161248e-02 2.99695042e+01] [-1.75114209e-01 9.84506184e-01 -9.08774806e-03 -2.93508938e+00] [-4.56168050e-02 1.10728762e-03 9.98958398e-01 -1.23845037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.913617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.94, Z:-1.24 [[ 9.83554340e-01 1.74851669e-01 4.52521100e-02 3.00011777e+01] [-1.74612721e-01 9.84594106e-01 -9.21113679e-03 -2.94108217e+00] [-4.61655434e-02 1.15805952e-03 9.98933132e-01 -1.23982361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.95, Z:-1.24 [[ 9.83745939e-01 1.73891191e-01 4.47859576e-02 3.00325739e+01] [-1.73655569e-01 9.84764137e-01 -9.12893287e-03 -2.94950811e+00] [-4.56910459e-02 1.20321968e-03 9.98954894e-01 -1.23898738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.96, Z:-1.24 [[ 9.83948825e-01 1.72590294e-01 4.53574652e-02 3.00646836e+01] [-1.72346645e-01 9.84992853e-01 -9.25818330e-03 -2.95712778e+00] [-4.62746517e-02 1.29237163e-03 9.98927919e-01 -1.24027655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.97, Z:-1.24 [[ 9.84140124e-01 1.70563655e-01 4.87468596e-02 3.00926170e+01] [-1.70753040e-01 9.85313818e-01 -2.83256346e-04 -2.96922605e+00] [-4.80792676e-02 -8.04491054e-03 9.98811125e-01 -1.23750615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.033617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.13, Y:-2.97, Z:-1.25 [[ 9.84635803e-01 1.69091634e-01 4.35930623e-02 3.01273953e+01] [-1.68431276e-01 9.85541143e-01 -1.84271973e-02 -2.96748348e+00] [-4.60786413e-02 1.08016431e-02 9.98879414e-01 -1.24523663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.98, Z:-1.24 [[ 9.85171837e-01 1.65298136e-01 4.59671385e-02 3.01586633e+01] [-1.65038553e-01 9.86242202e-01 -9.41243600e-03 -2.97894373e+00] [-4.68905900e-02 1.68651683e-03 9.98898608e-01 -1.24377969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.093617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.98, Z:-1.25 [[ 9.85411824e-01 1.63811291e-01 4.61454083e-02 3.01901742e+01] [-1.63547385e-01 9.86490091e-01 -9.46330120e-03 -2.98498927e+00] [-4.70721836e-02 1.77828801e-03 9.98889907e-01 -1.24577401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999993 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.98, Z:-1.26 [[ 9.85878618e-01 1.60191194e-01 4.88070788e-02 3.02201261e+01] [-1.59165546e-01 9.86954097e-01 -2.42474522e-02 -2.97957254e+00] [-5.20545747e-02 1.61366393e-02 9.98513861e-01 -1.26094158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153617864999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.99, Z:-1.26 [[ 9.85972459e-01 1.58691469e-01 5.17235685e-02 3.02503639e+01] [-1.58324527e-01 9.87324261e-01 -1.11421913e-02 -2.99271453e+00] [-5.28361048e-02 2.79678420e-03 9.98599281e-01 -1.25787314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:-3.01, Z:-1.24 [[ 9.85774825e-01 1.60614331e-01 4.95078838e-02 3.02823078e+01] [-1.61058287e-01 9.86931789e-01 5.08637049e-03 -3.01149358e+00] [-4.80439604e-02 -1.29876709e-02 9.98760781e-01 -1.24494364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213617864999993 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.32, Y:-3.01, Z:-1.25 [[ 9.85781224e-01 1.61428260e-01 4.66507776e-02 3.03154888e+01] [-1.61153178e-01 9.86882486e-01 -9.62351891e-03 -3.01053715e+00] [-4.75923433e-02 1.96876316e-03 9.98864902e-01 -1.25211728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999994 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:30.35, Y:-3.02, Z:-1.25 [[ 9.85717105e-01 1.61656893e-01 4.72105685e-02 3.03472188e+01] [-1.61374772e-01 9.86845008e-01 -9.75258468e-03 -3.01730950e+00] [-4.81660864e-02 1.99469481e-03 9.98837349e-01 -1.25402059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273617864999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:30.38, Y:-3.02, Z:-1.25 [[ 9.85676105e-01 1.61969778e-01 4.69936804e-02 3.03780240e+01] [-1.61689960e-01 9.86793726e-01 -9.72110981e-03 -3.02402414e+00] [-4.79475949e-02 1.98345935e-03 9.98847883e-01 -1.25472053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999993 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.41, Y:-3.02, Z:-1.27 [[ 9.85916170e-01 1.60248493e-01 4.78510832e-02 3.04082940e+01] [-1.59496500e-01 9.87012441e-01 -1.91652616e-02 -3.02224686e+00] [-5.03008187e-02 1.12632610e-02 9.98670600e-01 -1.26560945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333617864999994 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:30.44, Y:-3.04, Z:-1.26 [[ 9.85607487e-01 1.61794580e-01 4.89938263e-02 3.04394573e+01] [-1.61967543e-01 9.86795985e-01 -4.45336379e-04 -3.04018780e+00] [-4.84189641e-02 -7.49648280e-03 9.98798982e-01 -1.25529663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.47, Y:-3.03, Z:-1.27 [[ 9.85834052e-01 1.60630914e-01 4.82589970e-02 3.04707609e+01] [-1.59650714e-01 9.86892689e-01 -2.35472038e-02 -3.03069670e+00] [-5.14088602e-02 1.55090520e-02 9.98557258e-01 -1.27237027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393617864999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:30.50, Y:-3.06, Z:-1.26 [[ 9.85413772e-01 1.62865800e-01 4.93399274e-02 3.05014100e+01] [-1.63253695e-01 9.86576377e-01 3.90939274e-03 -3.05509584e+00] [-4.80409005e-02 -1.19072949e-02 9.98774393e-01 -1.25733592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:30.53, Y:-3.06, Z:-1.26 [[ 9.85075779e-01 1.65732684e-01 4.64584496e-02 3.05349833e+01] [-1.65461134e-01 9.86169023e-01 -9.65775686e-03 -3.05592389e+00] [-4.74164898e-02 1.82655462e-03 9.98873536e-01 -1.26358142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453617864999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.57, Y:-3.06, Z:-1.27 [[ 9.84903321e-01 1.66661875e-01 4.67896124e-02 3.05671904e+01] [-1.66386883e-01 9.86012451e-01 -9.73914029e-03 -3.06275220e+00] [-4.77582838e-02 1.80693385e-03 9.98857288e-01 -1.26530198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617864999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:30.60, Y:-3.07, Z:-1.27 [[ 9.84668115e-01 1.67980817e-01 4.70228588e-02 3.05981679e+01] [-1.67703920e-01 9.85788684e-01 -9.80130517e-03 -3.06932010e+00] [-4.80010334e-02 1.76511492e-03 9.98845726e-01 -1.26722398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.63, Y:-3.07, Z:-1.27 [[ 9.84290442e-01 1.69876090e-01 4.81086276e-02 3.06291648e+01] [-1.69587860e-01 9.85463921e-01 -1.00407976e-02 -3.07489159e+00] [-4.91150083e-02 1.72442189e-03 9.98791641e-01 -1.26998612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.66, Y:-3.08, Z:-1.27 [[ 9.84112368e-01 1.70849516e-01 4.83041386e-02 3.06616099e+01] [-1.70559525e-01 9.85295678e-01 -1.00933723e-02 -3.08175108e+00] [-4.93183068e-02 1.69428157e-03 9.98781675e-01 -1.27187465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:-3.09, Z:-1.27 [[ 9.84017598e-01 1.71606826e-01 4.75443463e-02 3.06934810e+01] [-1.71276108e-01 9.85161936e-01 -1.09752019e-02 -3.08849598e+00] [-4.87222999e-02 2.65658120e-03 9.98808831e-01 -1.27466266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:-3.10, Z:-1.27 [[ 9.83755845e-01 1.72937050e-01 4.81374542e-02 3.07236185e+01] [-1.72701618e-01 9.84932709e-01 -9.03933857e-03 -3.09850531e+00] [-4.89753897e-02 5.79085919e-04 9.98799818e-01 -1.27466884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-3.11, Z:-1.28 [[ 9.83692811e-01 1.73361851e-01 4.78969992e-02 3.07557724e+01] [-1.73077783e-01 9.84856908e-01 -1.00475133e-02 -3.10546773e+00] [-4.89135461e-02 1.59376016e-03 9.98801745e-01 -1.27684055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-3.11, Z:-1.28 [[ 9.83601558e-01 1.73919164e-01 4.77503961e-02 3.07883330e+01] [-1.73636838e-01 9.84758674e-01 -1.00300858e-02 -3.11247338e+00] [-4.87670409e-02 1.57438023e-03 9.98808939e-01 -1.27894851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:-3.12, Z:-1.28 [[ 9.83275169e-01 1.75628105e-01 4.82152469e-02 3.08178664e+01] [-1.75395251e-01 9.84456486e-01 -9.05173256e-03 -3.11875993e+00] [-4.90555511e-02 4.43618550e-04 9.98795953e-01 -1.28165717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-3.13, Z:-1.28 [[ 9.83389908e-01 1.74926584e-01 4.84249892e-02 3.08519021e+01] [-1.74594543e-01 9.84578558e-01 -1.10367136e-02 -3.12565532e+00] [-4.96088206e-02 2.39865397e-03 9.98765844e-01 -1.28474343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753617864999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.88, Y:-3.13, Z:-1.29 [[ 9.83318346e-01 1.75090129e-01 4.92795722e-02 3.08834512e+01] [-1.74789729e-01 9.84551129e-01 -1.03742184e-02 -3.13392866e+00] [-5.03346817e-02 1.58759622e-03 9.98731145e-01 -1.28640906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:-3.14, Z:-1.29 [[ 9.83191700e-01 1.75439969e-01 5.05460088e-02 3.09147610e+01] [-1.75123618e-01 9.84488790e-01 -1.06555302e-02 -3.14328520e+00] [-5.16313849e-02 1.62462891e-03 9.98664889e-01 -1.28796496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.95, Y:-3.15, Z:-1.29 [[ 9.83054494e-01 1.75843591e-01 5.17966498e-02 3.09453383e+01] [-1.75511137e-01 9.84416722e-01 -1.09342903e-02 -3.15055128e+00] [-5.29122131e-02 1.65811431e-03 9.98597791e-01 -1.29063149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.98, Y:-3.16, Z:-1.29 [[ 9.83114553e-01 1.75747066e-01 5.09778893e-02 3.09774180e+01] [-1.75424152e-01 9.84433970e-01 -1.07761489e-02 -3.15826036e+00] [-5.20782425e-02 1.65143583e-03 9.98641642e-01 -1.29283904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:-3.17, Z:-1.30 [[ 9.83061177e-01 1.76006575e-01 5.11117130e-02 3.10088628e+01] [-1.75681524e-01 9.84387597e-01 -1.08194979e-02 -3.16667710e+00] [-5.22180391e-02 1.65684471e-03 9.98634333e-01 -1.29501572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:-3.18, Z:-1.30 [[ 9.82999885e-01 1.76469883e-01 5.06912908e-02 3.10404623e+01] [-1.76150041e-01 9.84304686e-01 -1.07447081e-02 -3.17705422e+00] [-5.17917925e-02 1.63277392e-03 9.98656570e-01 -1.29711169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-3.18, Z:-1.30 [[ 9.82897118e-01 1.77003793e-01 5.08223648e-02 3.10715670e+01] [-1.76682237e-01 9.84208830e-01 -1.07872850e-02 -3.18488334e+00] [-5.19292106e-02 1.62338229e-03 9.98649449e-01 -1.29959213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-3.19, Z:-1.30 [[ 9.82793671e-01 1.77541391e-01 5.09475769e-02 3.11033103e+01] [-1.77218253e-01 9.84112013e-01 -1.08275682e-02 -3.19362937e+00] [-5.20604640e-02 1.61242488e-03 9.98642633e-01 -1.30266319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.14, Y:-3.20, Z:-1.31 [[ 9.82644688e-01 1.78290220e-01 5.12056081e-02 3.11353991e+01] [-1.77964042e-01 9.83976653e-01 -1.08971176e-02 -3.20186344e+00] [-5.23279723e-02 1.59523772e-03 9.98628679e-01 -1.30502486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.17, Y:-3.21, Z:-1.31 [[ 9.82523275e-01 1.78889677e-01 5.14441103e-02 3.11671955e+01] [-1.78560490e-01 9.83867862e-01 -1.09627063e-02 -3.21016961e+00] [-5.25753219e-02 1.58522857e-03 9.98615703e-01 -1.30716664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:-3.22, Z:-1.31 [[ 9.82408480e-01 1.79576909e-01 5.12417087e-02 3.11975615e+01] [-1.79250476e-01 9.83742705e-01 -1.09342050e-02 -3.21997872e+00] [-5.23721879e-02 1.55675502e-03 9.98626422e-01 -1.30945285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-3.23, Z:-1.31 [[ 9.82367370e-01 1.79803331e-01 5.12358464e-02 3.12280788e+01] [-1.79476565e-01 9.83701344e-01 -1.09465830e-02 -3.22898500e+00] [-5.23690031e-02 1.55793228e-03 9.98626587e-01 -1.31081730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113617864999995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:31.26, Y:-3.24, Z:-1.31 [[ 9.82313977e-01 1.79677270e-01 5.26813916e-02 3.12596733e+01] [-1.79330843e-01 9.83724273e-01 -1.12696109e-02 -3.23994519e+00] [-5.38488566e-02 1.62289790e-03 9.98547779e-01 -1.31231219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.29, Y:-3.25, Z:-1.31 [[ 9.82277107e-01 1.79749319e-01 5.31212477e-02 3.12909571e+01] [-1.79396342e-01 9.83711069e-01 -1.13791574e-02 -3.24793095e+00] [-5.43013552e-02 1.64772826e-03 9.98523233e-01 -1.31419888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173617864999994 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.32, Y:-3.26, Z:-1.32 [[ 9.82211009e-01 1.79942231e-01 5.36873170e-02 3.13230815e+01] [-1.79581170e-01 9.83675764e-01 -1.15150034e-02 -3.25594537e+00] [-5.48829480e-02 1.66893191e-03 9.98491400e-01 -1.31632394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617864999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:31.35, Y:-3.26, Z:-1.32 [[ 9.81642878e-01 1.82631633e-01 5.49813307e-02 3.13536788e+01] [-1.82256253e-01 9.83180156e-01 -1.18084534e-02 -3.26306154e+00] [-5.62131504e-02 1.57099284e-03 9.98417555e-01 -1.31819038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:-3.27, Z:-1.32 [[ 9.81264506e-01 1.84614774e-01 5.51121932e-02 3.13856163e+01] [-1.84240161e-01 9.82809861e-01 -1.18465556e-02 -3.27111182e+00] [-5.63518561e-02 1.47072516e-03 9.98409888e-01 -1.31969955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:-3.28, Z:-1.32 [[ 9.80141780e-01 1.90241807e-01 5.59477048e-02 3.14175727e+01] [-1.89863944e-01 9.81736553e-01 -1.20425323e-02 -3.27801174e+00] [-5.72169000e-02 1.18093714e-03 9.98361073e-01 -1.32056356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.45, Y:-3.29, Z:-1.32 [[ 9.79679477e-01 1.92670209e-01 5.57343100e-02 3.14487607e+01] [-1.92298235e-01 9.81263006e-01 -1.20125991e-02 -3.28533438e+00] [-5.70044865e-02 1.05088737e-03 9.98373369e-01 -1.32255200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.48, Y:-3.29, Z:-1.32 [[ 9.79470840e-01 1.93987453e-01 5.48246369e-02 3.14808460e+01] [-1.93628778e-01 9.81003528e-01 -1.18310662e-02 -3.29314767e+00] [-5.60782406e-02 9.72556886e-04 9.98425904e-01 -1.32450479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.353617864999993 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:31.51, Y:-3.30, Z:-1.33 [[ 9.79369068e-01 1.94593798e-01 5.44929569e-02 3.15128061e+01] [-1.94239522e-01 9.80883457e-01 -1.17750651e-02 -3.30089572e+00] [-5.57425946e-02 9.47448620e-04 9.98444723e-01 -1.32650423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999994 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:31.54, Y:-3.31, Z:-1.33 [[ 9.79061699e-01 1.96113790e-01 5.45671300e-02 3.15439340e+01] [-1.95760033e-01 9.80580752e-01 -1.18066955e-02 -3.30771919e+00] [-5.58229332e-02 8.77420166e-04 9.98440299e-01 -1.32784500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.32, Z:-1.33 [[ 9.78962637e-01 1.96614864e-01 5.45412673e-02 3.15754134e+01] [-1.96261407e-01 9.80480419e-01 -1.18156279e-02 -3.31552887e+00] [-5.57997727e-02 8.62712426e-04 9.98441606e-01 -1.32898137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.61, Y:-3.32, Z:-1.33 [[ 9.79029499e-01 1.96225196e-01 5.47440710e-02 3.16072334e+01] [-1.95867627e-01 9.80558441e-01 -1.18750291e-02 -3.32270246e+00] [-5.60099409e-02 9.03412526e-04 9.98429802e-01 -1.33083998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:-3.33, Z:-1.33 [[ 9.79234807e-01 1.95140827e-01 5.49477068e-02 3.16396111e+01] [-1.94778017e-01 9.80774739e-01 -1.19346235e-02 -3.32884077e+00] [-5.62202551e-02 9.84193362e-04 9.98417906e-01 -1.33324300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.67, Y:-3.34, Z:-1.34 [[ 9.79467962e-01 1.93813475e-01 5.54873650e-02 3.16714791e+01] [-1.93440467e-01 9.81037796e-01 -1.20676888e-02 -3.33563498e+00] [-5.67740829e-02 1.08641279e-03 9.98386460e-01 -1.33568225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533617864999993 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.34, Z:-1.34 [[ 9.79723876e-01 1.92504826e-01 5.55249377e-02 3.17026797e+01] [-1.92128317e-01 9.81295319e-01 -1.20915974e-02 -3.34357654e+00] [-5.68140523e-02 1.17851377e-03 9.98384082e-01 -1.33713901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.74, Y:-3.35, Z:-1.34 [[ 9.79688233e-01 1.92687007e-01 5.55219123e-02 3.17352879e+01] [-1.92310004e-01 9.81259558e-01 -1.21054740e-02 -3.35075942e+00] [-5.68139746e-02 1.18217128e-03 9.98384082e-01 -1.33897392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.36, Z:-1.34 [[ 9.80406629e-01 1.89041970e-01 5.53712578e-02 3.17660217e+01] [-1.88660596e-01 9.81968010e-01 -1.20833196e-02 -3.35956334e+00] [-5.66570584e-02 1.40019212e-03 9.98392717e-01 -1.33937612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-3.37, Z:-1.34 [[ 9.80628420e-01 1.87776267e-01 5.57492130e-02 3.17981332e+01] [-1.87387045e-01 9.82210692e-01 -1.21758645e-02 -3.36749394e+00] [-5.70438114e-02 1.49331847e-03 9.98370559e-01 -1.34080935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-3.37, Z:-1.34 [[ 9.80798450e-01 1.86840630e-01 5.59015162e-02 3.18288513e+01] [-1.86446857e-01 9.82388987e-01 -1.22248715e-02 -3.37499770e+00] [-5.72011365e-02 1.56747299e-03 9.98361444e-01 -1.34191638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.86, Y:-3.38, Z:-1.34 [[ 9.80943418e-01 1.86049669e-01 5.59958138e-02 3.18612124e+01] [-1.85652432e-01 9.82538987e-01 -1.22602320e-02 -3.38280520e+00] [-5.72990822e-02 1.63083483e-03 9.98355726e-01 -1.34308385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713617864999993 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.89, Y:-3.38, Z:-1.35 [[ 9.81051727e-01 1.87477922e-01 4.88828914e-02 3.18929992e+01] [-1.86375741e-01 9.82127872e-01 -2.62474157e-02 -3.38132285e+00] [-5.29300611e-02 1.66394874e-02 9.98459582e-01 -1.35131503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-3.40, Z:-1.34 [[ 9.80803750e-01 1.86194847e-01 5.79265376e-02 3.19218100e+01] [-1.86620363e-01 9.82430115e-01 1.97711205e-03 -3.40182983e+00] [-5.65406469e-02 -1.27494304e-02 9.98318891e-01 -1.34187651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:31.95, Y:-3.40, Z:-1.35 [[ 9.80634481e-01 1.88122442e-01 5.44606411e-02 3.19545732e+01] [-1.87747858e-01 9.82144432e-01 -1.19606671e-02 -3.39906323e+00] [-5.57382853e-02 1.50417389e-03 9.98444280e-01 -1.34987264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999993 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.40, Z:-1.36 [[ 9.80921384e-01 1.88554251e-01 4.73342585e-02 3.19898016e+01] [-1.87477546e-01 9.81917274e-01 -2.62799547e-02 -3.39812929e+00] [-5.14335233e-02 1.69044589e-02 9.98533340e-01 -1.35699289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.833617864999994 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:32.02, Y:-3.41, Z:-1.35 [[ 9.80740832e-01 1.88755826e-01 5.01862489e-02 3.20186100e+01] [-1.88489916e-01 9.82023982e-01 -1.00224927e-02 -3.41367229e+00] [-5.11759039e-02 3.69866024e-04 9.98689586e-01 -1.35226025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617864999995 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:32.05, Y:-3.42, Z:-1.35 [[ 9.81151477e-01 1.87482138e-01 4.68212252e-02 3.20521116e+01] [-1.87125738e-01 9.82263626e-01 -1.19217369e-02 -3.41951374e+00] [-4.82258992e-02 2.93557344e-03 9.98832141e-01 -1.35288010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.893617864999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-3.43, Z:-1.35 [[ 9.80924312e-01 1.88005204e-01 4.94119099e-02 3.20826519e+01] [-1.88077202e-01 9.82148936e-01 -3.23022191e-03 -3.43056993e+00] [-4.91371533e-02 -6.12465055e-03 9.98773262e-01 -1.35046896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.11, Y:-3.43, Z:-1.36 [[ 9.80809715e-01 1.87663632e-01 5.28645909e-02 3.21145572e+01] [-1.87361480e-01 9.82233200e-01 -1.06591087e-02 -3.43191342e+00] [-5.39256833e-02 5.49769331e-04 9.98544800e-01 -1.36025870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.953617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:-3.44, Z:-1.36 [[ 9.80543207e-01 1.88957736e-01 5.31976787e-02 3.21467881e+01] [-1.88723557e-01 9.81984906e-01 -9.43731133e-03 -3.43888776e+00] [-5.40225705e-02 -7.85963635e-04 9.98539405e-01 -1.36018714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:-3.45, Z:-1.36 [[ 9.80457026e-01 1.89721458e-01 5.20556303e-02 3.21766340e+01] [-1.89742907e-01 9.81823150e-01 -4.57498302e-03 -3.44776255e+00] [-5.19773954e-02 -5.39161238e-03 9.98633707e-01 -1.35511058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-3.45, Z:-1.36 [[ 9.80563663e-01 1.89544633e-01 5.06728176e-02 3.22088881e+01] [-1.89220325e-01 9.81871162e-01 -1.11664215e-02 -3.45119520e+00] [-5.18707136e-02 1.36106018e-03 9.98652881e-01 -1.35925121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.24, Y:-3.46, Z:-1.36 [[ 9.80701025e-01 1.88566719e-01 5.16535811e-02 3.22411526e+01] [-1.88227890e-01 9.82059312e-01 -1.13916042e-02 -3.45841199e+00] [-5.28749578e-02 1.44911333e-03 9.98600090e-01 -1.36228601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.27, Y:-3.46, Z:-1.36 [[ 9.80793016e-01 1.89024041e-01 4.81141553e-02 3.22735381e+01] [-1.88440177e-01 9.81947126e-01 -1.64359942e-02 -3.46409831e+00] [-5.03523546e-02 7.05366835e-03 9.98706607e-01 -1.36407322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.48, Z:-1.36 [[ 9.80883738e-01 1.87979319e-01 5.03077309e-02 3.23052320e+01] [-1.87877207e-01 9.82169030e-01 -6.79356305e-03 -3.47633940e+00] [-5.06877446e-02 -2.78798043e-03 9.98710659e-01 -1.36187422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.34, Y:-3.48, Z:-1.36 [[ 9.80741719e-01 1.88617602e-01 5.06861062e-02 3.23365935e+01] [-1.88356708e-01 9.82050593e-01 -9.91881759e-03 -3.48059421e+00] [-5.16471842e-02 1.80730114e-04 9.98665377e-01 -1.36477665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.48, Z:-1.37 [[ 9.80988009e-01 1.88607283e-01 4.57145296e-02 3.23708756e+01] [-1.87854882e-01 9.81987614e-01 -2.02699102e-02 -3.48178373e+00] [-4.87141545e-02 1.12968413e-02 9.98748874e-01 -1.37132622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.40, Y:-3.50, Z:-1.36 [[ 9.80663850e-01 1.88485225e-01 5.26472500e-02 3.23987216e+01] [-1.88661540e-01 9.82040791e-01 -1.64542375e-03 -3.49761737e+00] [-5.20118852e-02 -8.31890368e-03 9.98611816e-01 -1.36488291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.50, Z:-1.37 [[ 9.80606612e-01 1.89390554e-01 5.04171719e-02 3.24312484e+01] [-1.89066068e-01 9.81900805e-01 -1.11728046e-02 -3.49962661e+00] [-5.16206853e-02 1.42394961e-03 9.98665748e-01 -1.37038086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.46, Y:-3.51, Z:-1.37 [[ 9.80394871e-01 1.90763941e-01 4.93458884e-02 3.24631981e+01] [-1.90454159e-01 9.81635031e-01 -1.09489566e-02 -3.50661820e+00] [-5.05283188e-02 1.33617123e-03 9.98721735e-01 -1.37261665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.51, Z:-1.37 [[ 9.80326571e-01 1.91281858e-01 4.86935874e-02 3.24946316e+01] [-1.90980174e-01 9.81534282e-01 -1.08178840e-02 -3.51346354e+00] [-4.98636903e-02 1.30554935e-03 9.98755179e-01 -1.37434692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:32.53, Y:-3.52, Z:-1.38 [[ 9.80157409e-01 1.92225009e-01 4.83838703e-02 3.25262629e+01] [-1.91927670e-01 9.81350067e-01 -1.07618059e-02 -3.52099899e+00] [-4.95502025e-02 1.26206035e-03 9.98770837e-01 -1.37605425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.56, Y:-3.53, Z:-1.38 [[ 9.80122175e-01 1.92474053e-01 4.81067717e-02 3.25586968e+01] [-1.92179754e-01 9.81301260e-01 -1.07135144e-02 -3.52804145e+00] [-4.92693092e-02 1.25540546e-03 9.98784741e-01 -1.37788388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.59, Y:-3.54, Z:-1.38 [[ 9.80105651e-01 1.92556894e-01 4.81119112e-02 3.25912336e+01] [-1.92261957e-01 9.81284996e-01 -1.07283127e-02 -3.53510423e+00] [-4.92773072e-02 1.26478972e-03 9.98784335e-01 -1.37998711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.62, Y:-3.54, Z:-1.38 [[ 9.80174272e-01 1.92107627e-01 4.85083078e-02 3.26224465e+01] [-1.91806545e-01 9.81372986e-01 -1.08310365e-02 -3.54194331e+00] [-4.96854676e-02 1.31209236e-03 9.98764053e-01 -1.38152061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.433617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.65, Y:-3.55, Z:-1.38 [[ 9.80224939e-01 1.91831434e-01 4.85774689e-02 3.26540977e+01] [-1.91528492e-01 9.81426973e-01 -1.08597402e-02 -3.54946168e+00] [-4.97584778e-02 1.34101880e-03 9.98760379e-01 -1.38334864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:32.69, Y:-3.56, Z:-1.39 [[ 9.80529407e-01 1.90813613e-01 4.63923138e-02 3.26875349e+01] [-1.90360971e-01 9.81613940e-01 -1.40276076e-02 -3.55602584e+00] [-4.82160005e-02 4.92319590e-03 9.98824799e-01 -1.38707578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.493617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.72, Y:-3.58, Z:-1.37 [[ 9.80736050e-01 1.89614670e-01 4.69369443e-02 3.27163350e+01] [-1.90642063e-01 9.81486493e-01 1.84354984e-02 -3.58037871e+00] [-4.25723359e-02 -2.70285137e-02 9.98727718e-01 -1.36895543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.75, Y:-3.56, Z:-1.40 [[ 9.80570314e-01 1.92116718e-01 3.96613851e-02 3.27530773e+01] [-1.90516136e-01 9.80833829e-01 -4.08485261e-02 -3.55684437e+00] [-4.67489130e-02 3.24987182e-02 9.98377871e-01 -1.40132094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.553617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.78, Y:-3.58, Z:-1.39 [[ 9.80243807e-01 1.91270563e-01 5.03750975e-02 3.27791460e+01] [-1.91275523e-01 9.81524807e-01 -4.76733306e-03 -3.58337782e+00] [-5.03562584e-02 -4.96237443e-03 9.98718991e-01 -1.38848322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.81, Y:-3.58, Z:-1.40 [[ 9.80223857e-01 1.92431785e-01 4.61649132e-02 3.28123899e+01] [-1.91838266e-01 9.81279280e-01 -1.70016232e-02 -3.58396933e+00] [-4.85723255e-02 7.80919974e-03 9.98789140e-01 -1.39562953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:-3.61, Z:-1.38 [[ 9.79477506e-01 1.95172621e-01 5.03136484e-02 3.28427353e+01] [-1.96247793e-01 9.80400843e-01 1.73490984e-02 -3.61190207e+00] [-4.59414743e-02 -2.68669941e-02 9.98582769e-01 -1.37840095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.59, Z:-1.41 [[ 9.79439373e-01 1.97099396e-01 4.30156027e-02 3.28742676e+01] [-1.95779196e-01 9.80091046e-01 -3.30461382e-02 -3.58959401e+00] [-4.86725809e-02 2.39451288e-02 9.98527722e-01 -1.40564783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.673617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.91, Y:-3.61, Z:-1.40 [[ 9.79395416e-01 1.97190450e-01 4.35952488e-02 3.29055366e+01] [-1.96574350e-01 9.80323008e-01 -1.80367753e-02 -3.60528621e+00] [-4.62941053e-02 9.09542739e-03 9.98886445e-01 -1.40203349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.62, Z:-1.40 [[ 9.79043898e-01 1.97742251e-01 4.86934029e-02 3.29345574e+01] [-1.97838674e-01 9.80230365e-01 -2.87948609e-03 -3.62025416e+00] [-4.83001482e-02 -6.81429499e-03 9.98809622e-01 -1.39737529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.733617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:32.97, Y:-3.62, Z:-1.40 [[ 9.78860864e-01 1.99087197e-01 4.68582697e-02 3.29663636e+01] [-1.98810055e-01 9.79981258e-01 -1.05496868e-02 -3.62361712e+00] [-4.80205337e-02 1.01078039e-03 9.98845837e-01 -1.40245291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.64, Z:-1.39 [[ 9.79200748e-01 1.97330849e-01 4.71850798e-02 3.29944439e+01] [-1.98313808e-01 9.79989390e-01 1.71005423e-02 -3.64432051e+00] [-4.28664131e-02 -2.61023167e-02 9.98739776e-01 -1.38639321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.63, Z:-1.42 [[ 9.78795185e-01 2.00784405e-01 4.05660946e-02 3.30304480e+01] [-1.99346755e-01 9.79235280e-01 -3.68664745e-02 -3.62512202e+00] [-4.71259641e-02 2.79980084e-02 9.98496497e-01 -1.41629900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.64, Z:-1.41 [[ 9.78968734e-01 1.99660333e-01 4.19042881e-02 3.30616329e+01] [-1.98961306e-01 9.79797500e-01 -2.02794770e-02 -3.64143545e+00] [-4.51067238e-02 1.15156420e-02 9.98915799e-01 -1.41241964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-3.67, Z:-1.39 [[ 9.79224345e-01 1.97424026e-01 4.62972549e-02 3.30889049e+01] [-1.98517914e-01 9.79886762e-01 2.03118812e-02 -3.66941935e+00] [-4.13560138e-02 -2.90807231e-02 9.98721178e-01 -1.39042750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.12, Y:-3.65, Z:-1.42 [[ 9.78918523e-01 1.99693117e-01 4.29090293e-02 3.31230746e+01] [-1.98478902e-01 9.79616406e-01 -3.09487165e-02 -3.65206804e+00] [-4.82146348e-02 2.17797348e-02 9.98599515e-01 -1.41976996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.913617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.15, Y:-3.67, Z:-1.41 [[ 9.79003007e-01 1.98210094e-01 4.76011763e-02 3.31528669e+01] [-1.97920946e-01 9.80158926e-01 -1.07600547e-02 -3.67110856e+00] [-4.87894692e-02 1.11285601e-03 9.98808465e-01 -1.41380617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.19, Y:-3.68, Z:-1.42 [[ 9.79467146e-01 1.96415292e-01 4.54438567e-02 3.31853742e+01] [-1.95948341e-01 9.80506192e-01 -1.45552707e-02 -3.67825850e+00] [-4.74168606e-02 5.35176115e-03 9.98860851e-01 -1.41739506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.973617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.70, Z:-1.40 [[ 9.79923626e-01 1.93314497e-01 4.87769634e-02 3.32118144e+01] [-1.94149677e-01 9.80886257e-01 1.29635318e-02 -3.69820981e+00] [-4.53386145e-02 -2.21733028e-02 9.98725565e-01 -1.40353354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.68, Z:-1.43 [[ 9.79723254e-01 1.96447029e-01 3.93815882e-02 3.32490513e+01] [-1.95077004e-01 9.80123995e-01 -3.60820747e-02 -3.68316520e+00] [-4.56870560e-02 2.76680054e-02 9.98572568e-01 -1.42903989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:-3.71, Z:-1.42 [[ 9.79389430e-01 1.95907562e-01 4.91586319e-02 3.32749322e+01] [-1.95964297e-01 9.80604013e-01 -3.71003376e-03 -3.70652862e+00] [-4.89319754e-02 -5.99976889e-03 9.98784093e-01 -1.41721506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.71, Z:-1.42 [[ 9.79010854e-01 1.98080586e-01 4.79773892e-02 3.33083111e+01] [-1.97784386e-01 9.80185035e-01 -1.08919084e-02 -3.70834407e+00] [-4.91841945e-02 1.17411805e-03 9.98789035e-01 -1.42264398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.093617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.72, Z:-1.42 [[ 9.78922878e-01 1.98719770e-01 4.71216619e-02 3.33396167e+01] [-1.98434175e-01 9.80055696e-01 -1.07103307e-02 -3.71584781e+00] [-4.83102076e-02 1.13403965e-03 9.98831736e-01 -1.42427174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.72, Z:-1.43 [[ 9.78846748e-01 1.99198913e-01 4.66780111e-02 3.33702542e+01] [-1.98918654e-01 9.79958447e-01 -1.06212552e-02 -3.72414019e+00] [-4.78582538e-02 1.11145392e-03 9.98853519e-01 -1.42578680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.153617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.40, Y:-3.73, Z:-1.43 [[ 9.78871822e-01 1.99138235e-01 4.64103450e-02 3.34019968e+01] [-1.98860569e-01 9.79970770e-01 -1.05718161e-02 -3.73120996e+00] [-4.75860344e-02 1.11926520e-03 9.98866516e-01 -1.42737248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-3.74, Z:-1.43 [[ 9.78843917e-01 1.99274556e-01 4.64137545e-02 3.34330992e+01] [-1.98996359e-01 9.79943051e-01 -1.05861005e-02 -3.73814388e+00] [-4.75923767e-02 1.12597186e-03 9.98866206e-01 -1.42932287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.74, Z:-1.43 [[ 9.78740568e-01 1.99607532e-01 4.71564858e-02 3.34659299e+01] [-1.99320117e-01 9.79875264e-01 -1.07683936e-02 -3.74399413e+00] [-4.83569264e-02 1.14022741e-03 9.98829469e-01 -1.43185179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.75, Z:-1.43 [[ 9.78720790e-01 1.99640298e-01 4.74274922e-02 3.34973241e+01] [-1.99348937e-01 9.79868567e-01 -1.08440045e-02 -3.75015406e+00] [-4.86376091e-02 1.15863254e-03 9.98815819e-01 -1.43338925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.76, Z:-1.43 [[ 9.78808425e-01 1.99174438e-01 4.75774207e-02 3.35287775e+01] [-1.98880058e-01 9.79963320e-01 -1.08910294e-02 -3.75687203e+00] [-4.87933418e-02 1.19803111e-03 9.98808177e-01 -1.43497239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.76, Z:-1.44 [[ 9.78829573e-01 1.99575605e-01 4.54119453e-02 3.35602854e+01] [-1.99095282e-01 9.79866690e-01 -1.49110106e-02 -3.76202674e+00] [-4.74735265e-02 5.55403409e-03 9.98857055e-01 -1.43831505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.333617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.78, Z:-1.43 [[ 9.78593817e-01 1.99442209e-01 5.07636293e-02 3.35870393e+01] [-1.99617559e-01 9.79872507e-01 -1.64346463e-03 -3.77605577e+00] [-5.00696609e-02 -8.52502742e-03 9.98709344e-01 -1.43374605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.62, Y:-3.77, Z:-1.44 [[ 9.79781177e-01 1.94669641e-01 4.61798190e-02 3.36225771e+01] [-1.94172160e-01 9.80851739e-01 -1.50677976e-02 -3.77295556e+00] [-4.82287985e-02 5.79630930e-03 9.98819496e-01 -1.44096687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393617864999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.78, Z:-1.45 [[ 9.80250003e-01 1.92931421e-01 4.34442070e-02 3.36503938e+01] [-1.92293768e-01 9.81164016e-01 -1.84466676e-02 -3.77534941e+00] [-4.61848344e-02 9.72829565e-03 9.98885540e-01 -1.44610466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.68, Y:-3.79, Z:-1.44 [[ 9.79968387e-01 1.92385029e-01 5.14777759e-02 3.36790218e+01] [-1.92888226e-01 9.81208273e-01 4.94547442e-03 -3.79489743e+00] [-4.95589843e-02 -1.47758655e-02 9.98661895e-01 -1.43757919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.453617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.79, Z:-1.45 [[ 9.79521027e-01 1.95976099e-01 4.61727790e-02 3.37152312e+01] [-1.95344979e-01 9.80572136e-01 -1.78500802e-02 -3.79202119e+00] [-4.87739296e-02 8.46490834e-03 9.98773973e-01 -1.44786183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.80, Z:-1.45 [[ 9.79490070e-01 1.95753594e-01 4.77465462e-02 3.37470783e+01] [-1.95446451e-01 9.80651958e-01 -1.10644080e-02 -3.80321610e+00] [-4.89886416e-02 1.50558481e-03 9.98798201e-01 -1.44693338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.81, Z:-1.45 [[ 9.79588657e-01 1.96187179e-01 4.37796039e-02 3.37789589e+01] [-1.95608407e-01 9.80531658e-01 -1.71760999e-02 -3.80513725e+00] [-4.62970182e-02 8.26185403e-03 9.98893552e-01 -1.45155205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:33.81, Y:-3.82, Z:-1.45 [[ 9.79414676e-01 1.96604105e-01 4.57571603e-02 3.38093857e+01] [-1.96379422e-01 9.80482931e-01 -9.39921237e-03 -3.81623086e+00] [-4.67120384e-02 2.19961842e-04 9.98908373e-01 -1.45001583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.83, Z:-1.45 [[ 9.79410818e-01 1.96213022e-01 4.74857849e-02 3.38411612e+01] [-1.96190365e-01 9.80552127e-01 -5.18323052e-03 -3.82562065e+00] [-4.75793047e-02 -4.23974144e-03 9.98858466e-01 -1.44938901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:33.87, Y:-3.83, Z:-1.45 [[ 9.79364941e-01 1.96949905e-01 4.53326259e-02 3.38742417e+01] [-1.96672598e-01 9.80412540e-01 -1.05422785e-02 -3.82819274e+00] [-4.65209757e-02 1.40905267e-03 9.98916320e-01 -1.45365643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.633617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:33.90, Y:-3.82, Z:-1.47 [[ 9.80124525e-01 1.92574329e-01 4.76554628e-02 3.39015303e+01] [-1.91828225e-01 9.81228631e-01 -1.98066911e-02 -3.82226778e+00] [-5.05751648e-02 1.02713609e-02 9.98667438e-01 -1.46549862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.93, Y:-3.84, Z:-1.46 [[ 9.79158853e-01 1.98207308e-01 4.42922432e-02 3.39348706e+01] [-1.98184470e-01 9.80152239e-01 -4.95027149e-03 -3.84338633e+00] [-4.43943213e-02 -3.93093257e-03 9.99006352e-01 -1.45536230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.85, Z:-1.46 [[ 9.79143213e-01 1.98086096e-01 4.51715276e-02 3.39676737e+01] [-1.98016670e-01 9.80179973e-01 -6.05129227e-03 -3.85011228e+00] [-4.54749035e-02 -3.01963369e-03 9.98960918e-01 -1.45688426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:-3.85, Z:-1.46 [[ 9.79072258e-01 1.98638994e-01 4.42726043e-02 3.39993276e+01] [-1.98374241e-01 9.80071810e-01 -1.03396333e-02 -3.85353024e+00] [-4.54441858e-02 1.34070383e-03 9.98965980e-01 -1.45959474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-3.86, Z:-1.46 [[ 9.79004480e-01 1.98983641e-01 4.42237316e-02 3.40318281e+01] [-1.98719486e-01 9.80001908e-01 -1.03356447e-02 -3.86093502e+00] [-4.53959656e-02 1.33052524e-03 9.98968186e-01 -1.46157264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.06, Y:-3.87, Z:-1.46 [[ 9.78997352e-01 1.99095151e-01 4.38782986e-02 3.40636093e+01] [-1.98834634e-01 9.79979264e-01 -1.02679452e-02 -3.86875018e+00] [-4.50441209e-02 1.32776572e-03 9.98984116e-01 -1.46295270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.09, Y:-3.88, Z:-1.46 [[ 9.78920068e-01 1.99315093e-01 4.45981420e-02 3.40948758e+01] [-1.99045755e-01 9.79934526e-01 -1.04456756e-02 -3.87686824e+00] [-4.57852399e-02 1.34841060e-03 9.98950396e-01 -1.46365232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.88, Z:-1.47 [[ 9.78811226e-01 2.00087211e-01 4.35165623e-02 3.41264644e+01] [-1.99736902e-01 9.79772377e-01 -1.22987692e-02 -3.88286240e+00] [-4.50971521e-02 3.34631001e-03 9.98977001e-01 -1.46611077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.89, Z:-1.47 [[ 9.78630886e-01 2.00649384e-01 4.49601456e-02 3.41584539e+01] [-2.00476769e-01 9.79662767e-01 -8.36235915e-03 -3.89222906e+00] [-4.57236828e-02 -8.29801767e-04 9.98953781e-01 -1.46583043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.90, Z:-1.47 [[ 9.78248292e-01 2.02641375e-01 4.43480889e-02 3.41898758e+01] [-2.02377338e-01 9.79252270e-01 -1.04117446e-02 -3.89848286e+00] [-4.55378170e-02 1.21022317e-03 9.98961882e-01 -1.46853924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.91, Z:-1.47 [[ 9.78038742e-01 2.03684241e-01 4.41921925e-02 3.42221556e+01] [-2.03422592e-01 9.79035936e-01 -1.03868107e-02 -3.90588183e+00] [-4.53813742e-02 1.16901294e-03 9.98969051e-01 -1.46994552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.91, Z:-1.47 [[ 9.77844865e-01 2.04543042e-01 4.45147558e-02 3.42539602e+01] [-2.04277866e-01 9.78856895e-01 -1.04752910e-02 -3.91291486e+00] [-4.57162235e-02 1.14983024e-03 9.98953805e-01 -1.47167550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.993617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.92, Z:-1.47 [[ 9.77556742e-01 2.06051750e-01 4.38804287e-02 3.42845764e+01] [-2.05795048e-01 9.78540504e-01 -1.03382470e-02 -3.92029969e+00] [-4.50689907e-02 1.07584811e-03 9.98983297e-01 -1.47358832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.93, Z:-1.48 [[ 9.77471121e-01 2.06573404e-01 4.33316994e-02 3.43162875e+01] [-2.06323105e-01 9.78430543e-01 -1.02200306e-02 -3.92868953e+00] [-4.45082447e-02 1.04945405e-03 9.99008466e-01 -1.47529489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.94, Z:-1.48 [[ 9.77414021e-01 2.06876759e-01 4.31721967e-02 3.43484833e+01] [-2.06628069e-01 9.78366454e-01 -1.01942802e-02 -3.93696858e+00] [-4.43471886e-02 1.04344478e-03 9.99015635e-01 -1.47704097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.94, Z:-1.48 [[ 9.77432788e-01 2.06721760e-01 4.34886142e-02 3.43804093e+01] [-2.06468709e-01 9.78399187e-01 -1.02812259e-02 -3.94478245e+00] [-4.46745779e-02 1.07016923e-03 9.99001019e-01 -1.47909493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.113617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.41, Y:-3.95, Z:-1.48 [[ 9.77513727e-01 2.06401193e-01 4.31909894e-02 3.44119224e+01] [-2.06150752e-01 9.78466842e-01 -1.02228118e-02 -3.95240875e+00] [-4.43709516e-02 1.08908396e-03 9.99014531e-01 -1.48119982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:-3.96, Z:-1.48 [[ 9.77888708e-01 2.05027728e-01 4.11983716e-02 3.44434644e+01] [-2.04798199e-01 9.78755537e-01 -9.76199477e-03 -3.96042952e+00] [-4.23246140e-02 1.10879216e-03 9.99103297e-01 -1.48365663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.173617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.47, Y:-3.97, Z:-1.49 [[ 9.78147797e-01 2.03893705e-01 4.06724079e-02 3.44741408e+01] [-2.03668543e-01 9.78992352e-01 -9.64885044e-03 -3.96867398e+00] [-4.17853161e-02 1.15431176e-03 9.99125945e-01 -1.48519868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-4.00, Z:-1.46 [[ 9.78601131e-01 2.01521877e-01 4.15783515e-02 3.45022123e+01] [-2.02750615e-01 9.78836270e-01 2.77802898e-02 -3.99688386e+00] [-3.51000624e-02 -3.56158594e-02 9.98748966e-01 -1.46156803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.233617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.97, Z:-1.50 [[ 9.78919786e-01 2.01472108e-01 3.35416381e-02 3.45391016e+01] [-1.99855597e-01 9.78740278e-01 -4.60999734e-02 -3.96852832e+00] [-4.21164110e-02 3.84246920e-02 9.98373553e-01 -1.50047769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.57, Y:-4.00, Z:-1.49 [[ 9.79133613e-01 1.98583636e-01 4.31498199e-02 3.45670261e+01] [-1.98324159e-01 9.80082821e-01 -1.02563530e-02 -3.99593886e+00] [-4.43271410e-02 1.48468825e-03 9.99015966e-01 -1.48823298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.60, Y:-4.02, Z:-1.47 [[ 9.79365617e-01 1.97205791e-01 4.41912231e-02 3.45960604e+01] [-1.97941429e-01 9.80129007e-01 1.28965510e-02 -4.01552922e+00] [-4.07698251e-02 -2.13777125e-02 9.98939845e-01 -1.47418474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.63, Y:-4.01, Z:-1.49 [[ 9.79353394e-01 1.98049469e-01 4.05381094e-02 3.46302548e+01] [-1.97835768e-01 9.80191468e-01 -9.25718009e-03 -4.01133561e+00] [-4.15684886e-02 1.04616272e-03 9.99135109e-01 -1.48627971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.66, Y:-4.02, Z:-1.49 [[ 9.79236691e-01 1.98547416e-01 4.09197481e-02 3.46615762e+01] [-1.98393611e-01 9.80091178e-01 -7.82672577e-03 -4.01948876e+00] [-4.16590603e-02 -4.53999566e-04 9.99131781e-01 -1.48730330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.69, Y:-4.01, Z:-1.51 [[ 9.79007913e-01 2.00205759e-01 3.82251368e-02 3.46942119e+01] [-1.98946649e-01 9.79408318e-01 -3.43449802e-02 -4.01266251e+00] [-4.43140798e-02 2.60192445e-02 9.98678758e-01 -1.50551159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.413617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.72, Y:-4.05, Z:-1.48 [[ 9.79006093e-01 1.99022232e-01 4.40138661e-02 3.47210826e+01] [-1.99955734e-01 9.79641586e-01 1.78904236e-02 -4.04891895e+00] [-3.95572216e-02 -2.63156587e-02 9.98870719e-01 -1.47869552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-4.03, Z:-1.51 [[ 9.78629599e-01 2.02162636e-01 3.76081910e-02 3.47560186e+01] [-2.00775824e-01 9.78914629e-01 -3.76193815e-02 -4.02530740e+00] [-4.44204416e-02 2.92646247e-02 9.98584201e-01 -1.51019872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:-4.06, Z:-1.49 [[ 9.78347491e-01 2.01940685e-01 4.53447580e-02 3.47831249e+01] [-2.02749860e-01 9.79130912e-01 1.39696297e-02 -4.05869939e+00] [-4.15774176e-02 -2.28607955e-02 9.98873717e-01 -1.48630842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:-4.04, Z:-1.51 [[ 9.77968389e-01 2.05545374e-01 3.64544849e-02 3.48186544e+01] [-2.04230709e-01 9.78232440e-01 -3.67574711e-02 -4.03934428e+00] [-4.32162878e-02 2.85025195e-02 9.98659080e-01 -1.51399179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.85, Y:-4.06, Z:-1.50 [[ 9.77732693e-01 2.05123977e-01 4.43050207e-02 3.48462336e+01] [-2.05001755e-01 9.78734130e-01 -7.33369193e-03 -4.06219318e+00] [-4.48671520e-02 -1.91221663e-03 9.98991132e-01 -1.50395562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:-4.07, Z:-1.51 [[ 9.77515680e-01 2.06204215e-01 4.40785329e-02 3.48789554e+01] [-2.05937229e-01 9.78508182e-01 -1.05638864e-02 -4.06757671e+00] [-4.53095229e-02 1.24895363e-03 9.98972215e-01 -1.50714028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.593617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.91, Y:-4.07, Z:-1.51 [[ 9.77157610e-01 2.07705847e-01 4.49587255e-02 3.49106610e+01] [-2.07429065e-01 9.78190576e-01 -1.07879575e-02 -4.07466727e+00] [-4.62189235e-02 1.21578830e-03 9.98930595e-01 -1.50850845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.94, Y:-4.08, Z:-1.51 [[ 9.77015613e-01 2.08297081e-01 4.53080334e-02 3.49423081e+01] [-2.08016005e-01 9.78064856e-01 -1.08848104e-02 -4.08165736e+00] [-4.65814694e-02 1.20983355e-03 9.98913762e-01 -1.51010183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.97, Y:-4.09, Z:-1.51 [[ 9.76902096e-01 2.08760800e-01 4.56204271e-02 3.49739599e+01] [-2.08475716e-01 9.77965985e-01 -1.09730891e-02 -4.08864217e+00] [-4.69059768e-02 1.20888257e-03 9.98898577e-01 -1.51185685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.01, Y:-4.10, Z:-1.51 [[ 9.76896699e-01 2.08805710e-01 4.55303653e-02 3.50064701e+01] [-2.08521187e-01 9.77956387e-01 -1.09645190e-02 -4.09551726e+00] [-4.68161657e-02 1.21715665e-03 9.98902781e-01 -1.51403573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.713617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.04, Y:-4.10, Z:-1.52 [[ 9.77124408e-01 2.07846630e-01 4.50296654e-02 3.50388076e+01] [-2.07566729e-01 9.78160614e-01 -1.08566163e-02 -4.10213354e+00] [-4.63027562e-02 1.26160445e-03 9.98926656e-01 -1.51666392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-4.11, Z:-1.52 [[ 9.77260192e-01 2.07192827e-01 4.50959982e-02 3.50699104e+01] [-2.06910787e-01 9.78299250e-01 -1.08859318e-02 -4.10945743e+00] [-4.63728682e-02 1.30753937e-03 9.98923344e-01 -1.51809083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:-4.12, Z:-1.52 [[ 9.77438996e-01 2.06193066e-01 4.57976910e-02 3.51019716e+01] [-2.05900487e-01 9.78510343e-01 -1.10678575e-02 -4.11679257e+00] [-4.70956298e-02 1.38838862e-03 9.98889420e-01 -1.51965240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.13, Y:-4.12, Z:-1.52 [[ 9.77531980e-01 2.05597927e-01 4.64835542e-02 3.51338134e+01] [-2.05295182e-01 9.78635471e-01 -1.12473790e-02 -4.12434744e+00] [-4.78028927e-02 1.45182293e-03 9.98855733e-01 -1.52130032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:-4.13, Z:-1.52 [[ 9.77562466e-01 2.05410488e-01 4.66707170e-02 3.51643258e+01] [-2.05104402e-01 9.78674787e-01 -1.13068709e-02 -4.13224137e+00] [-4.79980039e-02 1.48080309e-03 9.98846334e-01 -1.52259486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:35.20, Y:-4.14, Z:-1.52 [[ 9.77668958e-01 2.04989975e-01 4.62873471e-02 3.51968644e+01] [-2.04688063e-01 9.78762929e-01 -1.12216970e-02 -4.13915026e+00] [-4.76046748e-02 1.49663738e-03 9.98865134e-01 -1.52490566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.23, Y:-4.15, Z:-1.53 [[ 9.77624983e-01 2.05279081e-01 4.59335663e-02 3.52276476e+01] [-2.04981462e-01 9.78702353e-01 -1.11491669e-02 -4.14558950e+00] [-4.72439801e-02 1.48417449e-03 9.98882277e-01 -1.52741218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:35.26, Y:-4.15, Z:-1.53 [[ 9.77673621e-01 2.05909235e-01 4.19008140e-02 3.52586924e+01] [-2.05354265e-01 9.78536719e-01 -1.71905725e-02 -4.14815356e+00] [-4.45411827e-02 8.20225844e-03 9.98973877e-01 -1.53286091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.953617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.29, Y:-4.16, Z:-1.53 [[ 9.77501845e-01 2.06135093e-01 4.47042143e-02 3.52884283e+01] [-2.05947574e-01 9.78523362e-01 -8.81058970e-03 -4.16040637e+00] [-4.55602898e-02 -5.94356774e-04 9.98961414e-01 -1.53120872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:35.32, Y:-4.17, Z:-1.53 [[ 9.77560303e-01 2.05491027e-01 4.63604645e-02 3.53187449e+01] [-2.05423526e-01 9.78653104e-01 -6.26712249e-03 -4.16986997e+00] [-4.66586499e-02 -3.39703994e-03 9.98905116e-01 -1.53093141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.35, Y:-4.18, Z:-1.53 [[ 9.77598852e-01 2.05550286e-01 4.52721190e-02 3.53497829e+01] [-2.05259615e-01 9.78645423e-01 -1.10284898e-02 -4.17522933e+00] [-4.65722613e-02 1.48890122e-03 9.98913814e-01 -1.53402872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.38, Y:-4.18, Z:-1.54 [[ 9.77654847e-01 2.05327288e-01 4.50744444e-02 3.53815321e+01] [-2.05038368e-01 9.78692210e-01 -1.09921214e-02 -4.18262765e+00] [-4.63709901e-02 1.50451023e-03 9.98923154e-01 -1.53593809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.41, Y:-4.19, Z:-1.54 [[ 9.77608222e-01 2.05568621e-01 4.49856271e-02 3.54125889e+01] [-2.05280505e-01 9.78641551e-01 -1.09831687e-02 -4.18983179e+00] [-4.62825987e-02 1.50256377e-03 9.98927256e-01 -1.53799172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.44, Y:-4.20, Z:-1.54 [[ 9.77527283e-01 2.05944556e-01 4.50250103e-02 3.54443218e+01] [-2.05655791e-01 9.78562516e-01 -1.10044676e-02 -4.19715563e+00] [-4.63260975e-02 1.49751324e-03 9.98925248e-01 -1.54006738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.133617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.48, Y:-4.20, Z:-1.54 [[ 9.77357803e-01 2.06601594e-01 4.56892437e-02 3.54755522e+01] [-2.06304325e-01 9.78424002e-01 -1.11802326e-02 -4.20421306e+00] [-4.70133066e-02 1.50119894e-03 9.98893135e-01 -1.54201374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.51, Y:-4.21, Z:-1.54 [[ 9.77270446e-01 2.07002975e-01 4.57410572e-02 3.55069924e+01] [-2.06705126e-01 9.78339177e-01 -1.12002046e-02 -4.21208542e+00] [-4.70687439e-02 1.49071793e-03 9.98890540e-01 -1.54318858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.193617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.54, Y:-4.22, Z:-1.54 [[ 9.77242559e-01 2.07098510e-01 4.59041283e-02 3.55392894e+01] [-2.06798053e-01 9.78318939e-01 -1.12525018e-02 -4.21968607e+00] [-4.72392544e-02 1.50353928e-03 9.98882472e-01 -1.54483758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:-4.24, Z:-1.53 [[ 9.77749752e-01 2.04572480e-01 4.64276112e-02 3.55661812e+01] [-2.05397725e-01 9.78582554e-01 1.37098300e-02 -4.23742094e+00] [-4.26285965e-02 -2.29409086e-02 9.98827571e-01 -1.53020904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.253617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:35.60, Y:-4.22, Z:-1.56 [[ 9.77135453e-01 2.08872114e-01 3.97334459e-02 3.56028074e+01] [-2.07559679e-01 9.77605126e-01 -3.47447449e-02 -4.22165817e+00] [-4.61008287e-02 2.57032607e-02 9.98606056e-01 -1.55719085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.63, Y:-4.24, Z:-1.55 [[ 9.77115717e-01 2.07858348e-01 4.51639509e-02 3.56313612e+01] [-2.07566793e-01 9.78157825e-01 -1.11038423e-02 -4.24167878e+00] [-4.64854983e-02 1.47520237e-03 9.98917876e-01 -1.55036095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.313617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.66, Y:-4.24, Z:-1.56 [[ 9.77230021e-01 2.08562210e-01 3.90293678e-02 3.56636333e+01] [-2.07849104e-01 9.77923277e-01 -2.15595650e-02 -4.24315221e+00] [-4.26642378e-02 1.29564351e-02 9.99005452e-01 -1.55615050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.69, Y:-4.26, Z:-1.55 [[ 9.77206134e-01 2.08171313e-01 4.16278374e-02 3.56939467e+01] [-2.07923806e-01 9.78091450e-01 -1.02374421e-02 -4.25696389e+00] [-4.28469737e-02 1.34867282e-03 9.99080736e-01 -1.55353797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.73, Y:-4.26, Z:-1.56 [[ 9.77169690e-01 2.08380803e-01 4.14347412e-02 3.57254868e+01] [-2.08134430e-01 9.78046819e-01 -1.02214831e-02 -4.26480800e+00] [-4.26550777e-02 1.36412722e-03 9.99088927e-01 -1.55513650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:-4.28, Z:-1.55 [[ 9.76784992e-01 2.08797587e-01 4.79024709e-02 3.57546292e+01] [-2.09042579e-01 9.77906534e-01 1.07097748e-04 -4.27692683e+00] [-4.68217775e-02 -1.01182676e-02 9.98852012e-01 -1.55181248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-4.28, Z:-1.56 [[ 9.76703310e-01 2.09772159e-01 4.52358891e-02 3.57877678e+01] [-2.09479539e-01 9.77749247e-01 -1.11683794e-02 -4.27810573e+00] [-4.65721716e-02 1.43219994e-03 9.98913901e-01 -1.55790824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.82, Y:-4.29, Z:-1.56 [[ 9.76657856e-01 2.09994827e-01 4.51841198e-02 3.58192782e+01] [-2.09702503e-01 9.77701447e-01 -1.11687277e-02 -4.28508356e+00] [-4.65219543e-02 1.43280264e-03 9.98916240e-01 -1.55954604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.85, Y:-4.29, Z:-1.56 [[ 9.76608023e-01 2.10191955e-01 4.53443590e-02 3.58508923e+01] [-2.09897197e-01 9.77659075e-01 -1.12204822e-02 -4.29242987e+00] [-4.66897792e-02 1.44035907e-03 9.98908399e-01 -1.56121611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.88, Y:-4.30, Z:-1.56 [[ 9.76579429e-01 2.10415526e-01 4.49213165e-02 3.58817126e+01] [-2.10125872e-01 9.77610998e-01 -1.11289840e-02 -4.29900829e+00] [-4.62572841e-02 1.42920612e-03 9.98928537e-01 -1.56237642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.553617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.91, Y:-4.31, Z:-1.56 [[ 9.76529589e-01 2.10677129e-01 4.47784502e-02 3.59135730e+01] [-2.10389263e-01 9.77554670e-01 -1.11006742e-02 -4.30604392e+00] [-4.61120413e-02 1.41923166e-03 9.98935266e-01 -1.56377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617864999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:35.94, Y:-4.31, Z:-1.57 [[ 9.76461282e-01 2.10949514e-01 4.49851921e-02 3.59447590e+01] [-2.10658659e-01 9.77495918e-01 -1.11651139e-02 -4.31297849e+00] [-4.63281170e-02 1.42578114e-03 9.98925259e-01 -1.56583595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-4.32, Z:-1.57 [[ 9.76615925e-01 2.10215186e-01 4.50656333e-02 3.59764882e+01] [-2.09921942e-01 9.77654028e-01 -1.11972857e-02 -4.31866411e+00] [-4.64124374e-02 1.47518233e-03 9.98921273e-01 -1.56765225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.01, Y:-4.33, Z:-1.57 [[ 9.76575075e-01 2.10420306e-01 4.49935289e-02 3.60080875e+01] [-2.10127687e-01 9.77609902e-01 -1.11907929e-02 -4.32588865e+00] [-4.63408895e-02 1.47426329e-03 9.98924596e-01 -1.56923943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:-4.33, Z:-1.57 [[ 9.76605802e-01 2.10196507e-01 4.53710897e-02 3.60391487e+01] [-2.09898081e-01 9.77657991e-01 -1.12981848e-02 -4.33248768e+00] [-4.67322474e-02 1.51056818e-03 9.98906310e-01 -1.57111065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:-4.34, Z:-1.57 [[ 9.76484111e-01 2.10635070e-01 4.59526721e-02 3.60713950e+01] [-2.10328829e-01 9.77563581e-01 -1.14555474e-02 -4.33763046e+00] [-4.73345987e-02 1.52098829e-03 9.98877932e-01 -1.57314746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.733617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.10, Y:-4.34, Z:-1.57 [[ 9.76408704e-01 2.10930075e-01 4.62011526e-02 3.61031125e+01] [-2.10620177e-01 9.77499958e-01 -1.15314429e-02 -4.34366966e+00] [-4.75939528e-02 1.52850627e-03 9.98865596e-01 -1.57471484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.14, Y:-4.35, Z:-1.58 [[ 9.76391378e-01 2.10729922e-01 4.74634315e-02 3.61355485e+01] [-2.10401949e-01 9.77543022e-01 -1.18599932e-02 -4.34902191e+00] [-4.88968017e-02 1.59359663e-03 9.98802565e-01 -1.57661140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.793617864999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.17, Y:-4.36, Z:-1.58 [[ 9.76365935e-01 2.10848542e-01 4.74600200e-02 3.61679495e+01] [-2.10520047e-01 9.77517430e-01 -1.18736291e-02 -4.35720464e+00] [-4.88965341e-02 1.60172136e-03 9.98802565e-01 -1.57838048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.20, Y:-4.36, Z:-1.58 [[ 9.76593653e-01 2.09792304e-01 4.74555074e-02 3.62003322e+01] [-2.09462358e-01 9.77744565e-01 -1.18779961e-02 -4.36276249e+00] [-4.88912766e-02 1.65983320e-03 9.98802727e-01 -1.58053742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.23, Y:-4.37, Z:-1.58 [[ 9.77449012e-01 2.05689955e-01 4.78024274e-02 3.62298956e+01] [-2.05989545e-01 9.78553227e-01 1.37456501e-03 -4.37214439e+00] [-4.64944854e-02 -1.11903675e-02 9.98855865e-01 -1.57548161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.26, Y:-4.38, Z:-1.58 [[ 9.77521767e-01 2.05834132e-01 4.56454317e-02 3.62621528e+01] [-2.05793391e-01 9.78579205e-01 -5.64090079e-03 -4.37539201e+00] [-4.58287602e-02 -3.87942489e-03 9.98941777e-01 -1.57822050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:-4.37, Z:-1.59 [[ 9.77289345e-01 2.07358451e-01 4.36807737e-02 3.62963464e+01] [-2.06214464e-01 9.78068269e-01 -2.92925842e-02 -4.37152169e+00] [-4.87968437e-02 1.96197231e-02 9.98616010e-01 -1.59227329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:36.32, Y:-4.38, Z:-1.59 [[ 9.77973466e-01 2.02757210e-01 4.95723012e-02 3.63233643e+01] [-2.02340230e-01 9.79224389e-01 -1.33427146e-02 -4.38207339e+00] [-5.12477379e-02 3.01834999e-03 9.98681410e-01 -1.59027267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:-4.39, Z:-1.59 [[ 9.78050928e-01 2.02373494e-01 4.96120132e-02 3.63562259e+01] [-2.02036225e-01 9.79307277e-01 -1.17737322e-02 -4.38816197e+00] [-5.09680969e-02 1.49188583e-03 9.98699168e-01 -1.59100994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:-4.40, Z:-1.59 [[ 9.77574214e-01 2.04894673e-01 4.86500680e-02 3.63900790e+01] [-2.04596911e-01 9.78783637e-01 -1.10768445e-02 -4.39883007e+00] [-4.98874769e-02 8.74783954e-04 9.98754462e-01 -1.59081456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:-4.40, Z:-1.59 [[ 9.77539395e-01 2.05144226e-01 4.82967573e-02 3.64227595e+01] [-2.04790796e-01 9.78729619e-01 -1.22090944e-02 -4.40451842e+00] [-4.97740921e-02 2.04413940e-03 9.98758410e-01 -1.59304947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:-4.41, Z:-1.60 [[ 9.77497602e-01 2.05327841e-01 4.83623304e-02 3.64553480e+01] [-2.04972962e-01 9.78691100e-01 -1.22399259e-02 -4.41053804e+00] [-4.98449799e-02 2.05152815e-03 9.98754859e-01 -1.59501503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.093617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:-4.42, Z:-1.60 [[ 9.77332527e-01 2.06010494e-01 4.87935260e-02 3.64874776e+01] [-2.05649359e-01 9.78547637e-01 -1.23638296e-02 -4.41500409e+00] [-5.02938682e-02 2.04921552e-03 9.98732360e-01 -1.59644221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-4.44, Z:-1.58 [[ 9.77142310e-01 2.06966572e-01 4.85566125e-02 3.65178744e+01] [-2.07905043e-01 9.78032596e-01 1.50908423e-02 -4.43674182e+00] [-4.43666499e-02 -2.48410651e-02 9.98706424e-01 -1.57942197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-4.41, Z:-1.61 [[ 9.77061554e-01 2.08457742e-01 4.35440981e-02 3.65543717e+01] [-2.06845609e-01 9.77604926e-01 -3.87750191e-02 -4.41378588e+00] [-5.06518777e-02 2.88786749e-02 9.98298758e-01 -1.60836809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-4.46, Z:-1.58 [[ 9.76624616e-01 2.08876680e-01 5.07433941e-02 3.65813706e+01] [-2.10521630e-01 9.77143263e-01 2.95243393e-02 -4.45500085e+00] [-4.34166198e-02 -3.95167786e-02 9.98275223e-01 -1.57527882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:-4.41, Z:-1.62 [[ 0.97667466 0.21091554 0.04026456 36.61927031] [-0.20868092 0.97652401 -0.05341479 -4.41498544] [-0.05058532 0.04376643 0.9977603 -1.61669535] [ 0. 0. 0. 1. ]] SLAMing on 36.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-4.47, Z:-1.57 [[ 9.76419782e-01 2.09606367e-01 5.16679760e-02 3.66440319e+01] [-2.11583549e-01 9.76686167e-01 3.62840601e-02 -4.47060922e+00] [-4.28580274e-02 -4.63605678e-02 9.98004954e-01 -1.57329945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:-4.45, Z:-1.60 [[ 9.76141124e-01 2.12830577e-01 4.30308195e-02 3.66798075e+01] [-2.12286361e-01 9.77061405e-01 -1.68970903e-02 -4.44959738e+00] [-4.56399705e-02 7.35908867e-03 9.98930847e-01 -1.59624234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:-4.47, Z:-1.59 [[ 9.76111488e-01 2.12393120e-01 4.57769112e-02 3.67096123e+01] [-2.12771501e-01 9.77095710e-01 3.50176615e-03 -4.46528469e+00] [-4.39846725e-02 -1.31581363e-02 9.98945550e-01 -1.58809265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-4.43, Z:-1.63 [[ 0.97632735 0.21200244 0.04289382 36.74479219] [-0.20890272 0.97563089 -0.06711201 -4.43052025] [-0.05607644 0.05656266 0.996823 -1.62871702] [ 0. 0. 0. 1. ]] SLAMing on 36.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-4.49, Z:-1.59 [[ 9.76595528e-01 2.07410446e-01 5.69392864e-02 3.67655224e+01] [-2.09421616e-01 9.77304570e-01 3.19118269e-02 -4.48951459e+00] [-4.90281785e-02 -4.30892648e-02 9.97867503e-01 -1.58613768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:-4.45, Z:-1.63 [[ 0.9765777 0.21012514 0.04629701 36.80541362] [-0.2073171 0.97650023 -0.0588805 -4.44700217] [-0.05758131 0.04790322 0.99719089 -1.62998311] [ 0. 0. 0. 1. ]] SLAMing on 36.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:-4.48, Z:-1.62 [[ 9.76600899e-01 2.07108528e-01 5.79373878e-02 3.68316824e+01] [-2.06600516e-01 9.78315086e-01 -1.46908145e-02 -4.47698462e+00] [-5.97236135e-02 2.37716847e-03 9.98212121e-01 -1.61846399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.453617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:-4.48, Z:-1.62 [[ 9.76782553e-01 2.06170091e-01 5.82214529e-02 3.68642956e+01] [-2.05654465e-01 9.78513072e-01 -1.47786746e-02 -4.48170779e+00] [-6.00173734e-02 2.46204974e-03 9.98194296e-01 -1.62096421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:-4.49, Z:-1.62 [[ 9.76747946e-01 2.06290087e-01 5.83767840e-02 3.68964588e+01] [-2.05770935e-01 9.78487743e-01 -1.48343856e-02 -4.48813833e+00] [-6.01811544e-02 2.47721023e-03 9.98184398e-01 -1.62355739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.49, Z:-1.63 [[ 9.76729041e-01 2.06412914e-01 5.82588177e-02 3.69287277e+01] [-2.05895107e-01 9.78461832e-01 -1.48205471e-02 -4.49462574e+00] [-6.00631818e-02 2.48045325e-03 9.98191495e-01 -1.62564018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:-4.50, Z:-1.63 [[ 9.76695678e-01 2.06548693e-01 5.83368689e-02 3.69603512e+01] [-2.06028732e-01 9.78433150e-01 -1.48571024e-02 -4.50114269e+00] [-6.01474415e-02 2.49179656e-03 9.98186394e-01 -1.62796067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.51, Z:-1.63 [[ 9.76604500e-01 2.07233557e-01 5.74273797e-02 3.69926225e+01] [-2.06729993e-01 9.78288489e-01 -1.46404330e-02 -4.50651786e+00] [-5.92145335e-02 2.42595090e-03 9.98242332e-01 -1.63015961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:-4.51, Z:-1.63 [[ 9.76443977e-01 2.08102111e-01 5.70146569e-02 3.70241344e+01] [-2.07606240e-01 9.78104228e-01 -1.45522641e-02 -4.51321140e+00] [-5.87946338e-02 2.37287210e-03 9.98267279e-01 -1.63260253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.633617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:-4.52, Z:-1.64 [[ 9.76173510e-01 2.09464731e-01 5.66551427e-02 3.70567503e+01] [-2.08976468e-01 9.77813517e-01 -1.44762276e-02 -4.51877317e+00] [-5.84304234e-02 2.29171833e-03 9.98288853e-01 -1.63505456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:-4.53, Z:-1.64 [[ 9.75971644e-01 2.10438058e-01 5.65258682e-02 3.70882706e+01] [-2.09952665e-01 9.77604616e-01 -1.44600853e-02 -4.52585307e+00] [-5.83029020e-02 2.24487657e-03 9.98296415e-01 -1.63667667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.693617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:-4.53, Z:-1.64 [[ 9.75681355e-01 2.11743226e-01 5.66630434e-02 3.71192376e+01] [-2.11257072e-01 9.77322897e-01 -1.45053543e-02 -4.53306776e+00] [-5.84495002e-02 2.18213510e-03 9.98287982e-01 -1.63843921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:-4.54, Z:-1.64 [[ 9.75423066e-01 2.12882511e-01 5.68408198e-02 3.71512436e+01] [-2.12394320e-01 9.77075471e-01 -1.45663211e-02 -4.54035856e+00] [-5.86386858e-02 2.13565832e-03 9.98276987e-01 -1.64052205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.55, Z:-1.64 [[ 9.74966158e-01 2.14728878e-01 5.77278083e-02 3.71824583e+01] [-2.14227521e-01 9.76671496e-01 -1.48107467e-02 -4.54676984e+00] [-5.95614000e-02 2.07309159e-03 9.98222491e-01 -1.64312805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:-4.55, Z:-1.65 [[ 9.74740392e-01 2.15741233e-01 5.77658005e-02 3.72145485e+01] [-2.15240053e-01 9.76448467e-01 -1.48361552e-02 -4.55475100e+00] [-5.96060978e-02 2.02788579e-03 9.98219916e-01 -1.64526450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.59, Z:-1.61 [[ 9.74542870e-01 2.17934390e-01 5.26383583e-02 3.72431805e+01] [-2.19885743e-01 9.74911860e-01 3.45995027e-02 -4.59200219e+00] [-4.37773382e-02 -4.52931232e-02 9.98014067e-01 -1.61113645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:-4.59, Z:-1.62 [[ 9.74258874e-01 2.20350011e-01 4.75974619e-02 3.72780934e+01] [-2.21107235e-01 9.75185053e-01 1.12117135e-02 -4.59038256e+00] [-4.39458322e-02 -2.14472545e-02 9.98803674e-01 -1.61661759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:-4.54, Z:-1.67 [[ 0.97383787 0.22330308 0.04213703 37.3122825 ] [-0.21944459 0.97226853 -0.08085775 -4.54431068] [-0.05902429 0.06949559 0.99583457 -1.66938354] [ 0. 0. 0. 1. ]] SLAMing on 36.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:-4.59, Z:-1.65 [[ 9.73364109e-01 2.21627435e-01 5.86821193e-02 3.73362398e+01] [-2.21121218e-01 9.75129955e-01 -1.50658005e-02 -4.58835914e+00] [-6.05616871e-02 1.68864780e-03 9.98163028e-01 -1.65347593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.59, Z:-1.66 [[ 9.73295396e-01 2.24321439e-01 4.87438725e-02 3.73704107e+01] [-2.22851922e-01 9.74265870e-01 -3.38088135e-02 -4.58636316e+00] [-5.50735331e-02 2.20432968e-02 9.98238949e-01 -1.66189846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:-4.65, Z:-1.62 [[ 0.97205154 0.22645741 0.06190995 37.3949232 ] [-0.22988949 0.97163882 0.05539694 -4.6463728 ] [-0.04760906 -0.06808113 0.99654319 -1.61741246] [ 0. 0. 0. 1. ]] SLAMing on 36.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:-4.58, Z:-1.68 [[ 0.97158096 0.23269851 0.04338011 37.4343243 ] [-0.22940964 0.97083434 -0.06965558 -4.58491238] [-0.05832365 0.05772422 0.99662745 -1.67585889] [ 0. 0. 0. 1. ]] SLAMing on 37.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:-4.65, Z:-1.63 [[ 9.70868949e-01 2.32721242e-01 5.70465368e-02 3.74574567e+01] [-2.34720652e-01 9.71562017e-01 3.12003729e-02 -4.65176512e+00] [-4.81632588e-02 -4.36814735e-02 9.97883876e-01 -1.63195511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:-4.61, Z:-1.68 [[ 0.96991166 0.23930268 0.04478397 37.4935311 ] [-0.23645141 0.96973778 -0.06082245 -4.60923559] [-0.05798368 0.04840318 0.99714343 -1.67703329] [ 0. 0. 0. 1. ]] SLAMing on 37.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:-4.64, Z:-1.67 [[ 9.69433528e-01 2.38916639e-01 5.58343451e-02 3.75204408e+01] [-2.38401982e-01 9.71038006e-01 -1.58014330e-02 -4.64280491e+00] [-5.79924964e-02 2.00742039e-03 9.98315001e-01 -1.66661804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:-4.66, Z:-1.67 [[ 9.68963433e-01 2.39772921e-01 6.01565628e-02 3.75499909e+01] [-2.39869737e-01 9.70788267e-01 -5.71399964e-03 -4.65716125e+00] [-5.97693477e-02 -8.89308221e-03 9.98172599e-01 -1.66561447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:-4.66, Z:-1.67 [[ 9.68742401e-01 2.41462252e-01 5.68695044e-02 3.75823933e+01] [-2.41017601e-01 9.70410089e-01 -1.46552302e-02 -4.66297448e+00] [-5.87254257e-02 4.90591423e-04 9.98274052e-01 -1.67164095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:-4.67, Z:-1.67 [[ 9.68813095e-01 2.41159735e-01 5.69488260e-02 3.76127963e+01] [-2.40712320e-01 9.70485294e-01 -1.46926252e-02 -4.67356510e+00] [-5.88112677e-02 5.26123657e-04 9.98268981e-01 -1.67354452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.64, Y:-4.69, Z:-1.67 [[ 9.69546665e-01 2.38036585e-01 5.76007735e-02 3.76435127e+01] [-2.37572396e-01 9.71255907e-01 -1.48767978e-02 -4.68815414e+00] [-5.94863136e-02 7.39395877e-04 9.98228847e-01 -1.67491037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.233617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:-4.70, Z:-1.68 [[ 9.70088852e-01 2.36711216e-01 5.38091033e-02 3.76732067e+01] [-2.35855853e-01 9.71543095e-01 -2.18181275e-02 -4.69508379e+00] [-5.74424583e-02 8.47433030e-03 9.98312852e-01 -1.67917044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.70, Y:-4.71, Z:-1.68 [[ 9.70618616e-01 2.33202567e-01 5.92964206e-02 3.77026417e+01] [-2.33180700e-01 9.72405380e-01 -7.38497042e-03 -4.71379288e+00] [-5.93823525e-02 -6.65879112e-03 9.98213102e-01 -1.67634585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:-4.72, Z:-1.68 [[ 9.70590479e-01 2.33802248e-01 5.73640166e-02 3.77358199e+01] [-2.33332163e-01 9.72283622e-01 -1.48546149e-02 -4.71830503e+00] [-5.92471362e-02 1.03287769e-03 9.98242811e-01 -1.68086530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:-4.73, Z:-1.68 [[ 9.71508825e-01 2.30062961e-01 5.69353672e-02 3.77650689e+01] [-2.29593076e-01 9.73174934e-01 -1.47501852e-02 -4.73041598e+00] [-5.88015435e-02 1.25796902e-03 9.98268900e-01 -1.68355046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:-4.74, Z:-1.69 [[ 9.72132608e-01 2.27136156e-01 5.80289478e-02 3.77956030e+01] [-2.26203942e-01 9.73825929e-01 -2.22449193e-02 -4.73531364e+00] [-6.15627195e-02 8.49863465e-03 9.98067034e-01 -1.69288036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:-4.75, Z:-1.69 [[ 9.72746176e-01 2.24367263e-01 5.85167309e-02 3.78241133e+01] [-2.23892168e-01 9.74503996e-01 -1.46375940e-02 -4.75297457e+00] [-6.03089850e-02 1.13722590e-03 9.98179109e-01 -1.69254621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.413617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-4.77, Z:-1.69 [[ 9.72769452e-01 2.24486671e-01 5.76656552e-02 3.78530433e+01] [-2.24434052e-01 9.74460639e-01 -7.47125509e-03 -4.76856771e+00] [-5.78701084e-02 -5.67432796e-03 9.98307995e-01 -1.68788588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:-4.77, Z:-1.70 [[ 9.73314063e-01 2.22399729e-01 5.65517138e-02 3.78837228e+01] [-2.21387276e-01 9.74898950e-01 -2.36582234e-02 -4.76818782e+00] [-6.03937889e-02 1.05070517e-02 9.98119328e-01 -1.70113207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.78, Z:-1.71 [[ 9.73607934e-01 2.20491194e-01 5.89170908e-02 3.79116360e+01] [-2.19397586e-01 9.75327670e-01 -2.45078535e-02 -4.77577906e+00] [-6.28672347e-02 1.09347731e-02 9.97961994e-01 -1.70676607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.94, Y:-4.80, Z:-1.70 [[ 9.73228409e-01 2.22042229e-01 5.93608592e-02 3.79411606e+01] [-2.22182077e-01 9.74995633e-01 -4.31756699e-03 -4.80178455e+00] [-5.88352607e-02 -8.98694011e-03 9.98227252e-01 -1.69730483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.81, Z:-1.70 [[ 9.73102656e-01 2.23393180e-01 5.62735060e-02 3.79722497e+01] [-2.22976768e-01 9.74728137e-01 -1.36535471e-02 -4.80698391e+00] [-5.79014790e-02 7.38618517e-04 9.98322029e-01 -1.70197005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-4.82, Z:-1.70 [[ 9.72536729e-01 2.25977529e-01 5.57356856e-02 3.80021288e+01] [-2.25922647e-01 9.74117393e-01 -7.36636119e-03 -4.82476515e+00] [-5.59577328e-02 -5.42789678e-03 9.98418384e-01 -1.69778095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.593617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.83, Z:-1.70 [[ 9.72497751e-01 2.26595441e-01 5.38760676e-02 3.80339416e+01] [-2.26161794e-01 9.73987777e-01 -1.40944595e-02 -4.83172892e+00] [-5.56683716e-02 1.52212208e-03 9.98448154e-01 -1.70160036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.83, Z:-1.71 [[ 9.73118853e-01 2.23754376e-01 5.45314339e-02 3.80628909e+01] [-2.22935205e-01 9.74612468e-01 -2.07468321e-02 -4.83470172e+00] [-5.77892098e-02 8.03215711e-03 9.98296495e-01 -1.71082328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.653617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.86, Z:-1.70 [[ 9.72622143e-01 2.25501007e-01 5.61735072e-02 3.80943531e+01] [-2.25429547e-01 9.74229136e-01 -7.68835429e-03 -4.85948951e+00] [-5.64595989e-02 -5.18530463e-03 9.98391419e-01 -1.70246583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617864999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:38.13, Y:-4.87, Z:-1.71 [[ 9.72632865e-01 2.25780879e-01 5.48480070e-02 3.81261689e+01] [-2.25327626e-01 9.74176732e-01 -1.43929377e-02 -4.86680610e+00] [-5.66813023e-02 1.64027304e-03 9.98390975e-01 -1.70652524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.713617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.16, Y:-4.88, Z:-1.71 [[ 9.72589824e-01 2.25814518e-01 5.54692443e-02 3.81576460e+01] [-2.25350060e-01 9.74168879e-01 -1.45720555e-02 -4.87721388e+00] [-5.73269932e-02 1.67263532e-03 9.98354055e-01 -1.70838686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.19, Y:-4.89, Z:-1.71 [[ 9.72485164e-01 2.26233907e-01 5.55951901e-02 3.81880809e+01] [-2.25767092e-01 9.74071578e-01 -1.46212615e-02 -4.88889399e+00] [-5.74615197e-02 1.66739555e-03 9.98346329e-01 -1.71073649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:-4.90, Z:-1.71 [[ 9.72460279e-01 2.26487266e-01 5.49956692e-02 3.82193936e+01] [-2.26029986e-01 9.74012729e-01 -1.44792595e-02 -4.89902403e+00] [-5.68458498e-02 1.64983436e-03 9.98381604e-01 -1.71309163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.25, Y:-4.91, Z:-1.72 [[ 9.72345970e-01 2.27011893e-01 5.48535795e-02 3.82506221e+01] [-2.26556907e-01 9.73890621e-01 -1.44577260e-02 -4.90961596e+00] [-5.67034624e-02 1.63045427e-03 9.98389733e-01 -1.71579226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:-4.92, Z:-1.72 [[ 9.72123505e-01 2.28070446e-01 5.44037102e-02 3.82811886e+01] [-2.27623676e-01 9.73643366e-01 -1.43547404e-02 -4.92279028e+00] [-5.62437036e-02 1.57100805e-03 9.98415834e-01 -1.71759452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.31, Y:-4.93, Z:-1.72 [[ 9.72043170e-01 2.28452470e-01 5.42360000e-02 3.83122190e+01] [-2.28008144e-01 9.73553818e-01 -1.43265574e-02 -4.93346558e+00] [-5.60746023e-02 1.55978257e-03 9.98425363e-01 -1.71926621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.34, Y:-4.94, Z:-1.72 [[ 9.71976658e-01 2.28794145e-01 5.39871830e-02 3.83430368e+01] [-2.28353528e-01 9.73473596e-01 -1.42767140e-02 -4.94427393e+00] [-5.58215257e-02 1.54846906e-03 9.98439562e-01 -1.72135553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.95, Z:-1.72 [[ 9.71950813e-01 2.28884763e-01 5.40683032e-02 3.83733111e+01] [-2.28442051e-01 9.73452273e-01 -1.43143969e-02 -4.95461096e+00] [-5.59092600e-02 1.56141559e-03 9.98434633e-01 -1.72341538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.953617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.97, Z:-1.73 [[ 9.71945854e-01 2.28898327e-01 5.41000172e-02 3.84047737e+01] [-2.28454282e-01 9.73449060e-01 -1.43376842e-02 -4.96509115e+00] [-5.59454828e-02 1.57607211e-03 9.98432581e-01 -1.72556544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:-4.98, Z:-1.73 [[ 9.71947196e-01 2.28724331e-01 5.48072006e-02 3.84352240e+01] [-2.28267355e-01 9.73489879e-01 -1.45420027e-02 -4.97598861e+00] [-5.66803649e-02 1.62336404e-03 9.98391056e-01 -1.72728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.47, Y:-4.99, Z:-1.73 [[ 9.71807697e-01 2.29351830e-01 5.46583723e-02 3.84668450e+01] [-2.28897796e-01 9.73342286e-01 -1.45118679e-02 -4.98560265e+00] [-5.65296285e-02 1.59156401e-03 9.98399653e-01 -1.72903410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:-4.99, Z:-1.73 [[ 9.71561299e-01 2.30448599e-01 5.44250489e-02 3.84983216e+01] [-2.29999267e-01 9.73083286e-01 -1.44656434e-02 -4.99497417e+00] [-5.62936927e-02 1.53653798e-03 9.98413070e-01 -1.73113739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-5.00, Z:-1.73 [[ 9.71152384e-01 2.32194179e-01 5.43038762e-02 3.85286394e+01] [-2.31748680e-01 9.72668375e-01 -1.44492735e-02 -5.00307969e+00] [-5.61747002e-02 1.44759479e-03 9.98419905e-01 -1.73303006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:-5.01, Z:-1.74 [[ 9.71000477e-01 2.32788403e-01 5.44759879e-02 3.85606036e+01] [-2.32340179e-01 9.72526354e-01 -1.45097361e-02 -5.01232991e+00] [-5.63570322e-02 1.43199987e-03 9.98409653e-01 -1.73526600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.59, Y:-5.02, Z:-1.74 [[ 9.71038828e-01 2.32576039e-01 5.46989984e-02 3.85914149e+01] [-2.32122870e-01 9.72577111e-01 -1.45854925e-02 -5.02112197e+00] [-5.65912299e-02 1.46619101e-03 9.98396356e-01 -1.73747678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.62, Y:-5.03, Z:-1.74 [[ 9.71016721e-01 2.32467833e-01 5.55448864e-02 3.86224836e+01] [-2.31999791e-01 9.72602921e-01 -1.48207666e-02 -5.02965311e+00] [-5.74684703e-02 1.50481019e-03 9.98346188e-01 -1.73893652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.65, Y:-5.04, Z:-1.74 [[ 9.70730377e-01 2.31925115e-01 6.23961230e-02 3.86505000e+01] [-2.32225049e-01 9.72658865e-01 -2.50191076e-03 -5.04483106e+00] [-6.12703981e-02 -1.20612620e-02 9.98048328e-01 -1.73571646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617864999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:38.69, Y:-5.04, Z:-1.75 [[ 9.71623054e-01 2.30687896e-01 5.22660113e-02 3.86867860e+01] [-2.29507099e-01 9.72914174e-01 -2.76496156e-02 -5.03904952e+00] [-5.72287749e-02 1.48695833e-02 9.98250351e-01 -1.74813655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.72, Y:-5.05, Z:-1.75 [[ 9.71798057e-01 2.29158941e-01 5.56301806e-02 3.87175991e+01] [-2.28681580e-01 9.73387454e-01 -1.48862200e-02 -5.05384696e+00] [-5.75610303e-02 1.74480205e-03 9.98340465e-01 -1.74529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.75, Y:-5.06, Z:-1.75 [[ 9.71904275e-01 2.28766068e-01 5.53910373e-02 3.87493986e+01] [-2.28286291e-01 9.73479648e-01 -1.49246128e-02 -5.06270687e+00] [-5.73362925e-02 1.86028056e-03 9.98353188e-01 -1.74724624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.313617865 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:38.78, Y:-5.07, Z:-1.75 [[ 9.72033452e-01 2.28373511e-01 5.47403698e-02 3.87800597e+01] [-2.27911077e-01 9.73572028e-01 -1.46303487e-02 -5.06965061e+00] [-5.66348769e-02 1.74525169e-03 9.98393432e-01 -1.74927608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:38.81, Y:-5.08, Z:-1.75 [[ 9.71913987e-01 2.28967173e-01 5.43804666e-02 3.88124430e+01] [-2.28508894e-01 9.73432574e-01 -1.45845443e-02 -5.07702945e+00] [-5.62750995e-02 1.74850230e-03 9.98413770e-01 -1.75211490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373617865 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:38.84, Y:-5.08, Z:-1.75 [[ 9.71756799e-01 2.29806410e-01 5.36445421e-02 3.88437209e+01] [-2.29360858e-01 9.73234890e-01 -1.44030079e-02 -5.08432080e+00] [-5.55186436e-02 1.69226263e-03 9.98456217e-01 -1.75448142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617864999994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:38.88, Y:-5.09, Z:-1.76 [[ 9.71183091e-01 2.32290970e-01 5.33320710e-02 3.88751674e+01] [-2.31853532e-01 9.72645098e-01 -1.43336475e-02 -5.09245904e+00] [-5.52027543e-02 1.55536707e-03 9.98473954e-01 -1.75700795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433617864999995 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:38.91, Y:-5.10, Z:-1.76 [[ 9.70920053e-01 2.33426904e-01 5.31613625e-02 3.89067369e+01] [-2.32993113e-01 9.72373193e-01 -1.43032300e-02 -5.10072488e+00] [-5.50314425e-02 1.50106153e-03 9.98483494e-01 -1.75883033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617864999996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:38.94, Y:-5.11, Z:-1.76 [[ 9.70728585e-01 2.34262847e-01 5.29804979e-02 3.89381394e+01] [-2.33832406e-01 9.72172195e-01 -1.42698809e-02 -5.10881745e+00] [-5.48490698e-02 1.46362401e-03 9.98493584e-01 -1.76052377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493617865 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:38.97, Y:-5.12, Z:-1.76 [[ 9.70302486e-01 2.35952419e-01 5.32873529e-02 3.89700593e+01] [-2.35518657e-01 9.71763614e-01 -1.43680803e-02 -5.11800187e+00] [-5.51728939e-02 1.39121820e-03 9.98475847e-01 -1.76163970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:39.00, Y:-5.13, Z:-1.76 [[ 9.70162883e-01 2.36377493e-01 5.39412701e-02 3.90020173e+01] [-2.35932785e-01 9.71660292e-01 -1.45601476e-02 -5.12704738e+00] [-5.58542815e-02 1.39920073e-03 9.98437951e-01 -1.76342755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553617865 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:39.03, Y:-5.14, Z:-1.76 [[ 9.70116725e-01 2.36474795e-01 5.43434611e-02 3.90325397e+01] [-2.36022678e-01 9.71636587e-01 -1.46846561e-02 -5.13567188e+00] [-5.62746461e-02 1.41954127e-03 9.98414317e-01 -1.76478047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617864999994 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:39.06, Y:-5.14, Z:-1.77 [[ 9.70229649e-01 2.35922928e-01 5.47247647e-02 3.90642652e+01] [-2.35462729e-01 9.71770649e-01 -1.48023605e-02 -5.14412558e+00] [-5.66721363e-02 1.47604654e-03 9.98391752e-01 -1.76702242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613617864999995 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:39.09, Y:-5.15, Z:-1.77 [[ 9.70322573e-01 2.35504119e-01 5.48809122e-02 3.90948450e+01] [-2.35039686e-01 9.71872161e-01 -1.48609881e-02 -5.15307337e+00] [-5.68370546e-02 1.52075981e-03 9.98382310e-01 -1.76922352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617864999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:39.13, Y:-5.16, Z:-1.77 [[ 9.70466556e-01 2.34977025e-01 5.45936053e-02 3.91263202e+01] [-2.34515769e-01 9.71999676e-01 -1.47980968e-02 -5.16264349e+00] [-5.65421794e-02 1.55799668e-03 9.98398996e-01 -1.77045829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.673617865 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:39.16, Y:-5.17, Z:-1.77 [[ 9.70623159e-01 2.34399810e-01 5.42900702e-02 3.91581067e+01] [-2.33941913e-01 9.72138970e-01 -1.47310727e-02 -5.17205871e+00] [-5.62304536e-02 1.59759737e-03 9.98416538e-01 -1.77263230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:39.19, Y:-5.18, Z:-1.78 [[ 9.70987015e-01 2.32967038e-01 5.39497457e-02 3.91884230e+01] [-2.32511762e-01 9.72483171e-01 -1.46547883e-02 -5.18029608e+00] [-5.58793024e-02 1.68565868e-03 9.98436108e-01 -1.77536826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.733617865 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:39.22, Y:-5.19, Z:-1.78 [[ 9.71101318e-01 2.32459243e-01 5.40826319e-02 3.92197385e+01] [-2.32000098e-01 9.72604593e-01 -1.47057538e-02 -5.18890991e+00] [-5.60195046e-02 1.73360098e-03 9.98428170e-01 -1.77770239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76361786499999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:39.25, Y:-5.20, Z:-1.78 [[ 9.71018794e-01 2.32626693e-01 5.48390712e-02 3.92517047e+01] [-2.32153933e-01 9.72564501e-01 -1.49278973e-02 -5.19716061e+00] [-5.68071614e-02 1.76416275e-03 9.98383611e-01 -1.77995881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.793617864999995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:39.28, Y:-5.21, Z:-1.78 [[ 9.70968106e-01 2.32939994e-01 5.44049325e-02 3.92830402e+01] [-2.32474283e-01 9.72489540e-01 -1.48257421e-02 -5.20569569e+00] [-5.63617360e-02 1.74757510e-03 9.98408885e-01 -1.78180086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617864999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:39.31, Y:-5.21, Z:-1.78 [[ 9.70851802e-01 2.33592180e-01 5.36793424e-02 3.93140424e+01] [-2.33138939e-01 9.72333171e-01 -1.46437402e-02 -5.21461781e+00] [-5.56148684e-02 1.70215659e-03 9.98450845e-01 -1.78393467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.853617865 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:39.35, Y:-5.22, Z:-1.79 [[ 9.70637801e-01 2.35103937e-01 5.08763021e-02 3.93454373e+01] [-2.34549330e-01 9.71960849e-01 -1.66949250e-02 -5.22253116e+00] [-5.33748163e-02 4.27172272e-03 9.98565412e-01 -1.78694550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:39.37, Y:-5.23, Z:-1.79 [[ 9.70482889e-01 2.35433248e-01 5.22890855e-02 3.93746495e+01] [-2.35100116e-01 9.71890511e-01 -1.25207841e-02 -5.23287086e+00] [-5.37670749e-02 -1.41963352e-04 9.98553495e-01 -1.78699587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.913617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:39.41, Y:-5.24, Z:-1.79 [[ 9.70212271e-01 2.36441421e-01 5.27598672e-02 3.94068699e+01] [-2.36081630e-01 9.71645725e-01 -1.30402629e-02 -5.23962291e+00] [-5.43471577e-02 1.96187645e-04 9.98522082e-01 -1.78980581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94361786499999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:39.44, Y:-5.25, Z:-1.79 [[ 9.69959117e-01 2.37479352e-01 5.27529062e-02 3.94390996e+01] [-2.37045455e-01 9.71391447e-01 -1.44259539e-02 -5.24652777e+00] [-5.46695881e-02 1.48774889e-03 9.98503391e-01 -1.79299359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.973617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.47, Y:-5.25, Z:-1.80 [[ 9.69769131e-01 2.38208928e-01 5.29560079e-02 3.94703589e+01] [-2.37771914e-01 9.71212826e-01 -1.44970205e-02 -5.25397536e+00] [-5.48848738e-02 1.46731159e-03 9.98491611e-01 -1.79520698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617864999995 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:39.50, Y:-5.26, Z:-1.80 [[ 9.69706899e-01 2.38638965e-01 5.21533815e-02 3.95019542e+01] [-2.38214997e-01 9.71107300e-01 -1.42908172e-02 -5.26247705e+00] [-5.40568753e-02 1.43418635e-03 9.98536828e-01 -1.79704629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033617865 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:39.53, Y:-5.27, Z:-1.80 [[ 9.69802727e-01 2.38225171e-01 5.22631742e-02 3.95330086e+01] [-2.37797951e-01 9.71208829e-01 -1.43368247e-02 -5.27116320e+00] [-5.41738487e-02 1.47581599e-03 9.98530428e-01 -1.79893161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:39.56, Y:-5.28, Z:-1.80 [[ 9.70037129e-01 2.37365495e-01 5.18226778e-02 3.95644568e+01] [-2.36943459e-01 9.71419218e-01 -1.42302629e-02 -5.28027520e+00] [-5.37193185e-02 1.52483882e-03 9.98554911e-01 -1.80042484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.093617865 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:39.60, Y:-5.29, Z:-1.80 [[ 9.70295590e-01 2.36208249e-01 5.22697956e-02 3.95963105e+01] [-2.35776382e-01 9.71701110e-01 -1.43684131e-02 -5.28932522e+00] [-5.41845561e-02 1.61762461e-03 9.98529628e-01 -1.80214204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:39.63, Y:-5.30, Z:-1.80 [[ 9.70875313e-01 2.33665355e-01 5.29304024e-02 3.96266660e+01] [-2.33217796e-01 9.72315416e-01 -1.45667844e-02 -5.29763726e+00] [-5.48687991e-02 1.79821957e-03 9.98491954e-01 -1.80360184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.153617864999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:39.66, Y:-5.31, Z:-1.81 [[ 9.70967393e-01 2.33280410e-01 5.29393175e-02 3.96581313e+01] [-2.32831637e-01 9.72407787e-01 -1.45781962e-02 -5.30600171e+00] [-5.48794122e-02 1.82900525e-03 9.98491314e-01 -1.80551630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617864999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:39.69, Y:-5.31, Z:-1.81 [[ 9.70939459e-01 2.33397623e-01 5.29350179e-02 3.96903064e+01] [-2.32948175e-01 9.72379642e-01 -1.45937909e-02 -5.31494978e+00] [-5.48790899e-02 1.83857167e-03 9.98491315e-01 -1.80761773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.213617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:39.72, Y:-5.32, Z:-1.81 [[ 9.70962481e-01 2.33358780e-01 5.26834006e-02 3.97212934e+01] [-2.32913232e-01 9.72388967e-01 -1.45300752e-02 -5.32239240e+00] [-5.46194782e-02 1.83749676e-03 9.98505551e-01 -1.81001157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:39.75, Y:-5.32, Z:-1.82 [[ 9.71132812e-01 2.32740304e-01 5.22782197e-02 3.97537357e+01] [-2.31638430e-01 9.72445972e-01 -2.63148084e-02 -5.32292316e+00] [-5.69622607e-02 1.34455292e-02 9.98285790e-01 -1.82202350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.273617865 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:39.78, Y:-5.34, Z:-1.81 [[ 9.70887106e-01 2.33124715e-01 5.50553873e-02 3.97811599e+01] [-2.33308748e-01 9.72397605e-01 -3.15062486e-03 -5.34474803e+00] [-5.42702152e-02 -9.78600245e-03 9.98478331e-01 -1.80966365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:39.81, Y:-5.35, Z:-1.82 [[ 9.70817551e-01 2.34189607e-01 5.16576338e-02 3.98140895e+01] [-2.33760908e-01 9.72189306e-01 -1.42755317e-02 -5.34769684e+00] [-5.35641804e-02 1.78340133e-03 9.98562816e-01 -1.81562197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.333617864999994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:39.85, Y:-5.36, Z:-1.82 [[ 9.70736598e-01 2.34391045e-01 5.22617977e-02 3.98461644e+01] [-2.33951712e-01 9.72140715e-01 -1.44577706e-02 -5.35646130e+00] [-5.41945934e-02 1.80794995e-03 9.98528756e-01 -1.81776832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617864999995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:39.88, Y:-5.37, Z:-1.82 [[ 9.70557192e-01 2.35121353e-01 5.23133517e-02 3.98781673e+01] [-2.34681394e-01 9.71964386e-01 -1.44870742e-02 -5.36547415e+00] [-5.42529353e-02 1.78356376e-03 9.98525632e-01 -1.81956494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.393617864999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:39.91, Y:-5.37, Z:-1.82 [[ 9.70307712e-01 2.36043114e-01 5.27881896e-02 3.99096393e+01] [-2.35595638e-01 9.71740984e-01 -1.46340212e-02 -5.37424926e+00] [-5.47507073e-02 1.76283645e-03 9.98498499e-01 -1.82119568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:39.94, Y:-5.38, Z:-1.82 [[ 9.69659134e-01 2.38458226e-01 5.38408552e-02 3.99405462e+01] [-2.37995513e-01 9.71151311e-01 -1.49420913e-02 -5.38208360e+00] [-5.58506817e-02 1.67485334e-03 9.98437728e-01 -1.82249527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.453617865 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:39.97, Y:-5.39, Z:-1.82 [[ 9.69240949e-01 2.40019414e-01 5.44303489e-02 3.99726549e+01] [-2.39548115e-01 9.70766742e-01 -1.51206476e-02 -5.39062298e+00] [-5.64684214e-02 1.61686333e-03 9.98403076e-01 -1.82426430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:40.00, Y:-5.40, Z:-1.83 [[ 9.68850654e-01 2.41421242e-01 5.51742135e-02 4.00043475e+01] [-2.40938323e-01 9.70419143e-01 -1.53430895e-02 -5.39877007e+00] [-5.72462607e-02 1.57157985e-03 9.98358851e-01 -1.82626831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51361786499999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.03, Y:-5.41, Z:-1.83 [[ 9.68170144e-01 2.44068723e-01 5.54709823e-02 4.00346895e+01] [-2.43583985e-01 9.69756871e-01 -1.54419402e-02 -5.40696524e+00] [-5.75622608e-02 1.43858252e-03 9.98340882e-01 -1.82898635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.07, Y:-5.42, Z:-1.83 [[ 9.67887689e-01 2.45294597e-01 5.49907483e-02 4.00659853e+01] [-2.44819360e-01 9.69447621e-01 -1.53229146e-02 -5.41635047e+00] [-5.70692783e-02 1.36806061e-03 9.98369283e-01 -1.83122394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.573617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.10, Y:-5.43, Z:-1.83 [[ 9.67372696e-01 2.47379686e-01 5.47115794e-02 4.00976286e+01] [-2.46911709e-01 9.68917808e-01 -1.52607175e-02 -5.42658081e+00] [-5.67862151e-02 1.25387185e-03 9.98385574e-01 -1.83295538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.13, Y:-5.44, Z:-1.83 [[ 9.67141301e-01 2.48310629e-01 5.45851301e-02 4.01293082e+01] [-2.47845415e-01 9.68679701e-01 -1.52409387e-02 -5.43603991e+00] [-5.66599946e-02 1.21146707e-03 9.98392797e-01 -1.83472048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.633617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.16, Y:-5.45, Z:-1.84 [[ 9.66961148e-01 2.49013503e-01 5.45748468e-02 4.01594738e+01] [-2.48548687e-01 9.68499288e-01 -1.52538513e-02 -5.44501375e+00] [-5.66541152e-02 1.18537501e-03 9.98393162e-01 -1.83641394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.19, Y:-5.45, Z:-1.84 [[ 9.67177648e-01 2.48153671e-01 5.46548475e-02 4.01909110e+01] [-2.47685298e-01 9.68719871e-01 -1.52906564e-02 -5.45340852e+00] [-5.67396693e-02 1.25157898e-03 9.98388223e-01 -1.83996236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.22, Y:-5.46, Z:-1.84 [[ 9.66875655e-01 2.49473804e-01 5.39841570e-02 4.02214148e+01] [-2.49018000e-01 9.68380834e-01 -1.51194056e-02 -5.46391437e+00] [-5.60491186e-02 1.17555840e-03 9.98427321e-01 -1.83985369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:-5.47, Z:-1.84 [[ 9.67031077e-01 2.48842500e-01 5.41138208e-02 4.02529638e+01] [-2.48382647e-01 9.68543183e-01 -1.51711215e-02 -5.47316372e+00] [-5.61867920e-02 1.23001189e-03 9.98419517e-01 -1.84202158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.753617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.28, Y:-5.49, Z:-1.84 [[ 9.67723411e-01 2.45783805e-01 5.56931047e-02 4.02819178e+01] [-2.46072622e-01 9.69249871e-01 -1.71805911e-03 -5.48826896e+00] [-5.44028056e-02 -1.20419423e-02 9.98446456e-01 -1.83664160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:-5.49, Z:-1.84 [[ 9.68176846e-01 2.44818149e-01 5.19390869e-02 4.03126921e+01] [-2.44269456e-01 9.69562555e-01 -1.67596061e-02 -5.49037296e+00] [-5.44612495e-02 3.53913008e-03 9.98509613e-01 -1.84366479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.813617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.34, Y:-5.50, Z:-1.84 [[ 9.68849242e-01 2.42102347e-01 5.21305994e-02 4.03420194e+01] [-2.41831663e-01 9.70249660e-01 -1.15344420e-02 -5.50251754e+00] [-5.33722118e-02 -1.43169415e-03 9.98573661e-01 -1.84237999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.37, Y:-5.51, Z:-1.84 [[ 9.69202368e-01 2.40635363e-01 5.23583027e-02 4.03726278e+01] [-2.40412756e-01 9.70612838e-01 -1.06030927e-02 -5.51088179e+00] [-5.33711198e-02 -2.31106133e-03 9.98572072e-01 -1.84396484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.873617865 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:40.41, Y:-5.51, Z:-1.86 [[ 9.69259918e-01 2.41721099e-01 4.58925041e-02 4.04075931e+01] [-2.40466579e-01 9.70155450e-01 -3.12126118e-02 -5.50897067e+00] [-5.20676098e-02 1.92175201e-02 9.98458638e-01 -1.85552291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617864999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:40.44, Y:-5.53, Z:-1.85 [[ 9.68948220e-01 2.41022547e-01 5.52039752e-02 4.04370507e+01] [-2.40526071e-01 9.70517837e-01 -1.55672158e-02 -5.52713485e+00] [-5.73284926e-02 1.80583075e-03 9.98353736e-01 -1.85379883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.47, Y:-5.54, Z:-1.85 [[ 9.69842086e-01 2.36959347e-01 5.70665970e-02 4.04661674e+01] [-2.37198374e-01 9.71457632e-01 -2.64602956e-03 -5.53859271e+00] [-5.60647826e-02 -1.09698732e-02 9.98366867e-01 -1.84781964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.50, Y:-5.54, Z:-1.86 [[ 9.69201444e-01 2.40481979e-01 5.30752211e-02 4.05014541e+01] [-2.39289528e-01 9.70548003e-01 -2.78764565e-02 -5.53661473e+00] [-5.82158352e-02 1.43175573e-02 9.98201344e-01 -1.86280168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.53, Y:-5.55, Z:-1.86 [[ 9.69129483e-01 2.40006309e-01 5.64359531e-02 4.05302096e+01] [-2.39482593e-01 9.70769352e-01 -1.59672595e-02 -5.55138410e+00] [-5.86185366e-02 1.95891355e-03 9.98278533e-01 -1.85979068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:40.56, Y:-5.56, Z:-1.86 [[ 9.68987949e-01 2.40537152e-01 5.66059486e-02 4.05621278e+01] [-2.40010247e-01 9.70637978e-01 -1.60311362e-02 -5.56008921e+00] [-5.87999673e-02 1.94797002e-03 9.98267885e-01 -1.86176854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.053617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.59, Y:-5.57, Z:-1.86 [[ 9.68557039e-01 2.42232470e-01 5.67511465e-02 4.05933995e+01] [-2.41704758e-01 9.70216444e-01 -1.60892126e-02 -5.56700594e+00] [-5.89582252e-02 1.86629802e-03 9.98258706e-01 -1.86427692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.63, Y:-5.57, Z:-1.87 [[ 9.68200278e-01 2.43732157e-01 5.64168194e-02 4.06250078e+01] [-2.43212290e-01 9.69840951e-01 -1.60097643e-02 -5.57467674e+00] [-5.86174361e-02 1.77939441e-03 9.98278934e-01 -1.86704129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.66, Y:-5.58, Z:-1.87 [[ 9.67682840e-01 2.46549990e-01 5.29435858e-02 4.06590553e+01] [-2.45774016e-01 9.69103946e-01 -2.08008316e-02 -5.57890182e+00] [-5.64362827e-02 7.11645011e-03 9.98380840e-01 -1.87236385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:-5.59, Z:-1.87 [[ 9.66960047e-01 2.48434816e-01 5.71700082e-02 4.06874339e+01] [-2.48234395e-01 9.68640963e-01 -1.06943846e-02 -5.59174195e+00] [-5.80340693e-02 -3.85051976e-03 9.98307177e-01 -1.87009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:-5.60, Z:-1.87 [[ 9.66525640e-01 2.50456722e-01 5.56742155e-02 4.07192334e+01] [-2.49959603e-01 9.68126803e-01 -1.58331882e-02 -5.59706653e+00] [-5.78652287e-02 1.38687751e-03 9.98323441e-01 -1.87425315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:40.75, Y:-5.60, Z:-1.88 [[ 9.65965307e-01 2.52549433e-01 5.59447026e-02 4.07512967e+01] [-2.52050081e-01 9.67583143e-01 -1.59253883e-02 -5.60427934e+00] [-5.81530990e-02 1.28250584e-03 9.98306853e-01 -1.87651379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.233617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.78, Y:-5.61, Z:-1.88 [[ 9.65813520e-01 2.53061596e-01 5.62500876e-02 4.07829819e+01] [-2.52556670e-01 9.67449329e-01 -1.60288631e-02 -5.61207011e+00] [-5.84753992e-02 1.27455792e-03 9.98288036e-01 -1.87924027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.82, Y:-5.62, Z:-1.88 [[ 9.65876161e-01 2.52723703e-01 5.66919023e-02 4.08152004e+01] [-2.52209249e-01 9.67537588e-01 -1.61712994e-02 -5.61906935e+00] [-5.89384171e-02 1.32125053e-03 9.98260746e-01 -1.88231291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.85, Y:-5.63, Z:-1.88 [[ 9.66046483e-01 2.51977628e-01 5.71092608e-02 4.08468609e+01] [-2.51453240e-01 9.67732057e-01 -1.63075102e-02 -5.62769594e+00] [-5.93755901e-02 1.39350425e-03 9.98234741e-01 -1.88469289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617864999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:40.88, Y:-5.64, Z:-1.89 [[ 9.66177192e-01 2.51322159e-01 5.77824048e-02 4.08777948e+01] [-2.50783083e-01 9.67902380e-01 -1.65174999e-02 -5.63656978e+00] [-6.00789408e-02 1.46798198e-03 9.98192550e-01 -1.88677026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.353617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.90, Y:-5.66, Z:-1.87 [[ 9.67095422e-01 2.46813410e-01 6.17218395e-02 4.09040798e+01] [-2.47745756e-01 9.68793537e-01 7.81813941e-03 -5.65501250e+00] [-5.78660975e-02 -2.28522106e-02 9.98062769e-01 -1.87429167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-5.64, Z:-1.90 [[ 9.66919874e-01 2.49263894e-01 5.41615093e-02 4.09426737e+01] [-2.47288786e-01 9.68089100e-01 -4.06417293e-02 -5.64097579e+00] [-6.25636825e-02 2.59037618e-02 9.97704756e-01 -1.89935505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.413617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:40.97, Y:-5.66, Z:-1.89 [[ 9.67007768e-01 2.47294727e-01 6.11661173e-02 4.09709992e+01] [-2.46680110e-01 9.68938529e-01 -1.75228717e-02 -5.66149611e+00] [-6.35995215e-02 1.85628847e-03 9.97973775e-01 -1.89335265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.00, Y:-5.67, Z:-1.90 [[ 9.67054219e-01 2.47116663e-01 6.11513866e-02 4.10017190e+01] [-2.46500839e-01 9.68983901e-01 -1.75366864e-02 -5.66916015e+00] [-6.35883166e-02 1.88505853e-03 9.97974435e-01 -1.89575603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.03, Y:-5.68, Z:-1.90 [[ 9.66984017e-01 2.47119516e-01 6.22403126e-02 4.10332040e+01] [-2.46480415e-01 9.68983075e-01 -1.78663386e-02 -5.67658084e+00] [-6.47249304e-02 1.93544580e-03 9.97901266e-01 -1.89868928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:-5.68, Z:-1.90 [[ 9.66877217e-01 2.47460338e-01 6.25446112e-02 4.10638686e+01] [-2.46814458e-01 9.68896082e-01 -1.79723841e-02 -5.68479105e+00] [-6.50466810e-02 1.94017440e-03 9.97880336e-01 -1.90101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.09, Y:-5.71, Z:-1.89 [[ 9.66943391e-01 2.47289158e-01 6.21976830e-02 4.10922128e+01] [-2.48285350e-01 9.68647773e-01 8.71071417e-03 -5.70608118e+00] [-5.80935820e-02 -2.38655410e-02 9.98025837e-01 -1.88560551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:-5.69, Z:-1.92 [[ 9.66459965e-01 2.50549431e-01 5.63925420e-02 4.11293866e+01] [-2.48409666e-01 9.67730344e-01 -4.23157126e-02 -5.68792959e+00] [-6.51749518e-02 2.68879896e-02 9.97511535e-01 -1.91544584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.593617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.15, Y:-5.73, Z:-1.89 [[ 9.66303611e-01 2.49188687e-01 6.45161242e-02 4.11539799e+01] [-2.50760257e-01 9.67892826e-01 1.74002936e-02 -5.72855598e+00] [-5.81087375e-02 -3.29920464e-02 9.97764952e-01 -1.88575286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:-5.70, Z:-1.92 [[ 9.65865473e-01 2.53527556e-01 5.31758002e-02 4.11922414e+01] [-2.50875563e-01 9.66631283e-01 -5.18209785e-02 -5.69972372e+00] [-6.45394380e-02 3.67115850e-02 9.97239650e-01 -1.92286214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.22, Y:-5.72, Z:-1.92 [[ 9.65051668e-01 2.55467428e-01 5.84095191e-02 4.12200716e+01] [-2.54460874e-01 9.66780444e-01 -2.41916420e-02 -5.72264748e+00] [-6.26493574e-02 8.48324716e-03 9.97999545e-01 -1.91582512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.25, Y:-5.74, Z:-1.91 [[ 9.64555067e-01 2.56360340e-01 6.25531641e-02 4.12507152e+01] [-2.56005576e-01 9.66577390e-01 -1.37584255e-02 -5.73711643e+00] [-6.39895888e-02 -2.74319976e-03 9.97946796e-01 -1.91414595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.713617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.28, Y:-5.77, Z:-1.89 [[ 9.64440780e-01 2.56233433e-01 6.47951359e-02 4.12784523e+01] [-2.58672558e-01 9.65420507e-01 3.24307249e-02 -5.77098186e+00] [-5.42447170e-02 -4.80382372e-02 9.97371465e-01 -1.88502353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.32, Y:-5.73, Z:-1.94 [[ 0.96369041 0.26233953 0.04978715 41.31868175] [-0.2590822 0.96376827 -0.06345975 -5.72599242] [-0.06463127 0.04825659 0.99674174 -1.93661636] [ 0. 0. 0. 1. ]] SLAMing on 40.773617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.34, Y:-5.76, Z:-1.92 [[ 9.63420741e-01 2.60461019e-01 6.30914677e-02 4.13432361e+01] [-2.59825690e-01 9.65483669e-01 -1.82180302e-02 -5.75871622e+00] [-6.56588684e-02 1.15884402e-03 9.97841455e-01 -1.92338962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.37, Y:-5.77, Z:-1.93 [[ 9.63078261e-01 2.61893157e-01 6.23878041e-02 4.13745254e+01] [-2.61273829e-01 9.65096285e-01 -1.80318516e-02 -5.76778301e+00] [-6.49326565e-02 1.06578384e-03 9.97889079e-01 -1.92603766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.833617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.41, Y:-5.78, Z:-1.93 [[ 9.63040323e-01 2.62060670e-01 6.22699136e-02 4.14062877e+01] [-2.61442846e-01 9.65050807e-01 -1.80160560e-02 -5.77695967e+00] [-6.48149301e-02 1.07016491e-03 9.97896728e-01 -1.92834549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:-5.79, Z:-1.93 [[ 9.62816082e-01 2.62870674e-01 6.23233587e-02 4.14361437e+01] [-2.62281342e-01 9.64830890e-01 -1.76026004e-02 -5.78614236e+00] [-6.47587091e-02 6.01812581e-04 9.97900770e-01 -1.93006308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.893617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.47, Y:-5.82, Z:-1.90 [[ 9.62898817e-01 2.62127752e-01 6.41475674e-02 4.14659375e+01] [-2.64178305e-01 9.64130084e-01 2.57488471e-02 -5.82205382e+00] [-5.50971122e-02 -4.17399300e-02 9.97608183e-01 -1.89978388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:-5.81, Z:-1.91 [[ 9.62992425e-01 2.63783804e-01 5.53506475e-02 4.15010780e+01] [-2.63847009e-01 9.64544002e-01 -6.29469293e-03 -5.81414397e+00] [-5.50485731e-02 -8.54236120e-03 9.98447136e-01 -1.91197488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:-5.82, Z:-1.92 [[ 9.62901407e-01 2.64534087e-01 5.33160134e-02 4.15339765e+01] [-2.64022285e-01 9.64374539e-01 -1.65524071e-02 -5.81811310e+00] [-5.57952817e-02 1.86172040e-03 9.98440494e-01 -1.91847550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:-5.79, Z:-1.96 [[ 0.96334602 0.26292104 0.05326333 41.56641321] [-0.25919614 0.96343971 -0.06783279 -5.79318964] [-0.06915068 0.0515408 0.99627392 -1.95547976] [ 0. 0. 0. 1. ]] SLAMing on 41.01361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.59, Y:-5.83, Z:-1.94 [[ 9.63384453e-01 2.59503048e-01 6.74430432e-02 4.15918716e+01] [-2.58771396e-01 9.65741341e-01 -1.95199022e-02 -5.82837983e+00] [-7.01980091e-02 1.35283991e-03 9.97532160e-01 -1.94078721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.62, Y:-5.86, Z:-1.91 [[ 9.63652388e-01 2.58438230e-01 6.77034432e-02 4.16203097e+01] [-2.60576806e-01 9.65135069e-01 2.47795630e-02 -5.86356031e+00] [-5.89389809e-02 -4.15208320e-02 9.97397723e-01 -1.91015290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:-5.82, Z:-1.96 [[ 0.96405225 0.25983112 0.05559726 41.65739448] [-0.25646084 0.96462146 -0.0611006 -5.82300061] [-0.06950615 0.04464565 0.99658199 -1.95829312] [ 0. 0. 0. 1. ]] SLAMing on 41.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-5.85, Z:-1.95 [[ 9.63966925e-01 2.57265551e-01 6.76919805e-02 4.16840300e+01] [-2.56520356e-01 9.66339490e-01 -1.96289539e-02 -5.85469708e+00] [-7.04632876e-02 1.55729135e-03 9.97513158e-01 -1.94620420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.71, Y:-5.86, Z:-1.95 [[ 9.64167512e-01 2.56650431e-01 6.71681789e-02 4.17143402e+01] [-2.55914641e-01 9.66502976e-01 -1.94857530e-02 -5.86333666e+00] [-6.99192717e-02 1.59820965e-03 9.97551373e-01 -1.94824108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:-5.91, Z:-1.91 [[ 9.64331693e-01 2.56006001e-01 6.72704475e-02 4.17439523e+01] [-2.58780466e-01 9.65255465e-01 3.62568327e-02 -5.90557300e+00] [-5.56512003e-02 -5.23718907e-02 9.97075789e-01 -1.91009942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.78, Y:-5.85, Z:-1.97 [[ 0.96477076 0.25793811 0.05181996 41.78288488] [-0.2539877 0.96450648 -0.07223223 -5.85093241] [-0.06861214 0.05652591 0.99604076 -1.97120266] [ 0. 0. 0. 1. ]] SLAMing on 41.223617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.81, Y:-5.89, Z:-1.96 [[ 9.65184734e-01 2.52793035e-01 6.71871374e-02 4.18071890e+01] [-2.52045862e-01 9.67518511e-01 -1.95144761e-02 -5.88685523e+00] [-6.99379228e-02 1.90083441e-03 9.97549535e-01 -1.95597091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:-5.92, Z:-1.93 [[ 9.65369359e-01 2.51753548e-01 6.84262467e-02 4.18343160e+01] [-2.53565832e-01 9.67129718e-01 1.90913078e-02 -5.91778108e+00] [-6.13707521e-02 -3.57807218e-02 9.97473494e-01 -1.92940811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.87, Y:-5.88, Z:-1.97 [[ 9.66012828e-01 2.52453816e-01 5.55543593e-02 4.18717862e+01] [-2.49449535e-01 9.66782425e-01 -5.57375252e-02 -5.88410276e+00] [-6.77801292e-02 3.99851553e-02 9.96898712e-01 -1.97247278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.90, Y:-5.91, Z:-1.96 [[ 9.66198187e-01 2.49197456e-01 6.60431049e-02 4.18992322e+01] [-2.48464773e-01 9.68450294e-01 -1.92167852e-02 -5.91161513e+00] [-6.87482384e-02 2.15783789e-03 9.97631707e-01 -1.96278293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-5.92, Z:-1.97 [[ 9.66378054e-01 2.48671183e-01 6.53918943e-02 4.19302859e+01] [-2.47950389e-01 9.68585483e-01 -1.90464383e-02 -5.91926991e+00] [-6.80739398e-02 2.19211435e-03 9.97677871e-01 -1.96550033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-5.95, Z:-1.94 [[ 9.66529168e-01 2.48295855e-01 6.45796899e-02 4.19593352e+01] [-2.50406541e-01 9.67769159e-01 2.68219745e-02 -5.95408166e+00] [-5.58384471e-02 -4.20953975e-02 9.97552026e-01 -1.93615678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.00, Y:-5.94, Z:-1.96 [[ 9.66666415e-01 2.50766177e-01 5.16949439e-02 4.19957584e+01] [-2.49835993e-01 9.67994710e-01 -2.38373257e-02 -5.93515441e+00] [-5.60180272e-02 1.01274845e-02 9.98378393e-01 -1.95954925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.02, Y:-5.94, Z:-1.96 [[ 9.66807957e-01 2.49814239e-01 5.36210816e-02 4.20249568e+01] [-2.48836918e-01 9.68240616e-01 -2.42960352e-02 -5.94200115e+00] [-5.79876047e-02 1.01466954e-02 9.98265737e-01 -1.96416455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:-5.95, Z:-1.97 [[ 9.66796244e-01 2.50452515e-01 5.07795305e-02 4.20564246e+01] [-2.49572098e-01 9.68080715e-01 -2.30975576e-02 -5.95137053e+00] [-5.49435256e-02 9.65747796e-03 9.98442759e-01 -1.96585971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.08, Y:-5.97, Z:-1.96 [[ 9.66444974e-01 2.50069671e-01 5.87305043e-02 4.20849935e+01] [-2.50316816e-01 9.68158593e-01 -3.22953086e-03 -5.96880371e+00] [-5.76680501e-02 -1.15800690e-02 9.98268650e-01 -1.95892051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:-5.95, Z:-1.99 [[ 9.66289430e-01 2.51571632e-01 5.47398549e-02 4.21186981e+01] [-2.48689144e-01 9.67054526e-01 -5.43990231e-02 -5.94543291e+00] [-6.66216755e-02 3.89519933e-02 9.97017700e-01 -1.99182749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:-5.97, Z:-1.98 [[ 9.65734486e-01 2.51472418e-01 6.41757355e-02 4.21458759e+01] [-2.50780009e-01 9.67862356e-01 -1.87576060e-02 -5.97114700e+00] [-6.68302991e-02 2.02087549e-03 9.97762310e-01 -1.98259028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.18, Y:-5.98, Z:-1.98 [[ 9.65475531e-01 2.52622983e-01 6.35501928e-02 4.21777890e+01] [-2.51945301e-01 9.67562848e-01 -1.85930019e-02 -5.97987968e+00] [-6.61858251e-02 1.93991593e-03 9.97805429e-01 -1.98455938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:-5.99, Z:-1.99 [[ 9.65162294e-01 2.53765207e-01 6.37570865e-02 4.22098455e+01] [-2.53084318e-01 9.67264009e-01 -1.86725967e-02 -5.98877268e+00] [-6.64083904e-02 1.88616752e-03 9.97790744e-01 -1.98679803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617864999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:42.24, Y:-6.01, Z:-1.98 [[ 9.64815424e-01 2.54506005e-01 6.60143244e-02 4.22394801e+01] [-2.55093128e-01 9.66916369e-01 4.81146773e-04 -6.00684355e+00] [-6.37078761e-02 -1.73040184e-02 9.97818559e-01 -1.97739760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673617865 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:42.28, Y:-5.99, Z:-2.00 [[ 9.64517029e-01 2.57345531e-01 5.89930331e-02 4.22755410e+01] [-2.55471277e-01 9.66089069e-01 -3.75011632e-02 -5.99490657e+00] [-6.66432812e-02 2.10994850e-02 9.97553750e-01 -1.99755241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:-6.01, Z:-1.99 [[ 9.64469167e-01 2.56180263e-01 6.45824962e-02 4.23051742e+01] [-2.55484299e-01 9.66627384e-01 -1.89545015e-02 -6.01295737e+00] [-6.72829786e-02 1.78121851e-03 9.97732343e-01 -1.99344498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.733617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:-6.02, Z:-2.00 [[ 9.64361186e-01 2.56528804e-01 6.48110810e-02 4.23368437e+01] [-2.55827384e-01 9.66534944e-01 -1.90407983e-02 -6.02048220e+00] [-6.75266878e-02 1.78175753e-03 9.97715877e-01 -1.99582785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:-6.03, Z:-2.00 [[ 9.64306177e-01 2.56860169e-01 6.43152376e-02 4.23685709e+01] [-2.56168931e-01 9.66446969e-01 -1.89138563e-02 -6.02935102e+00] [-6.70154828e-02 1.76318273e-03 9.97750378e-01 -1.99779925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:-6.04, Z:-2.00 [[ 9.64252498e-01 2.57539209e-01 6.23752836e-02 4.24000281e+01] [-2.56694379e-01 9.66257076e-01 -2.13367792e-02 -6.03700232e+00] [-6.57656164e-02 4.56265792e-03 9.97824667e-01 -2.00128670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:-6.05, Z:-2.00 [[ 9.64529610e-01 2.56049373e-01 6.41977452e-02 4.24306975e+01] [-2.55493975e-01 9.66663694e-01 -1.68561683e-02 -6.04749786e+00] [-6.63736409e-02 -1.43863671e-04 9.97794828e-01 -2.00286136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:-6.05, Z:-2.01 [[ 9.64850205e-01 2.55370735e-01 6.20473113e-02 4.24615636e+01] [-2.54660215e-01 9.66839273e-01 -1.92352468e-02 -6.05490994e+00] [-6.49018964e-02 2.75815017e-03 9.97887838e-01 -2.00686686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:-6.07, Z:-2.01 [[ 9.64996430e-01 2.54858696e-01 6.18783835e-02 4.24923888e+01] [-2.54225497e-01 9.66976865e-01 -1.80316080e-02 -6.06523067e+00] [-6.44304774e-02 1.66937455e-03 9.97920802e-01 -2.00881707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:-6.08, Z:-2.01 [[ 9.65192700e-01 2.54069493e-01 6.20624306e-02 4.25225353e+01] [-2.53525934e-01 9.67185919e-01 -1.66132093e-02 -6.07586426e+00] [-6.42468187e-02 3.00512650e-04 9.97933994e-01 -2.00915536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:-6.09, Z:-2.01 [[ 9.65609138e-01 2.52366148e-01 6.25325564e-02 4.25537705e+01] [-2.52062128e-01 9.67625947e-01 -1.28339256e-02 -6.08944036e+00] [-6.37469724e-02 -3.36953342e-03 9.97960405e-01 -2.00918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:-6.10, Z:-2.01 [[ 9.65560087e-01 2.52877761e-01 6.12091275e-02 4.25859051e+01] [-2.52224321e-01 9.67495654e-01 -1.83044180e-02 -6.09636126e+00] [-6.38483451e-02 2.23558484e-03 9.97957109e-01 -2.01290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617864999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:42.62, Y:-6.11, Z:-2.01 [[ 9.65391442e-01 2.53581632e-01 6.09567035e-02 4.26159765e+01] [-2.53273203e-01 9.67309273e-01 -1.28629241e-02 -6.10866032e+00] [-6.22257858e-02 -3.02094265e-03 9.98057526e-01 -2.01229358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:-6.12, Z:-2.02 [[ 9.65169981e-01 2.54887097e-01 5.89870746e-02 4.26480048e+01] [-2.54252420e-01 9.66967531e-01 -1.81521793e-02 -6.11611328e+00] [-6.16653422e-02 2.52233213e-03 9.98093695e-01 -2.01683101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.68, Y:-6.12, Z:-2.03 [[ 9.65342828e-01 2.54455125e-01 5.80156253e-02 4.26780840e+01] [-2.53196925e-01 9.67003142e-01 -2.82177407e-02 -6.11862070e+00] [-6.32814406e-02 1.25504156e-02 9.97916803e-01 -2.02631653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.093617865 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:42.71, Y:-6.13, Z:-2.04 [[ 9.64532324e-01 2.57788283e-01 5.67679165e-02 4.27123054e+01] [-2.55806588e-01 9.65904211e-01 -3.99004418e-02 -6.12510151e+00] [-6.51182359e-02 2.39636589e-02 9.97589775e-01 -2.03707245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:-6.15, Z:-2.02 [[ 9.64463771e-01 2.55960090e-01 6.55291251e-02 4.27387751e+01] [-2.56266516e-01 9.66598580e-01 -3.82866216e-03 -6.15249777e+00] [-6.43203440e-02 -1.31003146e-02 9.97843312e-01 -2.02400241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:-6.15, Z:-2.03 [[ 9.64831508e-01 2.55499184e-01 6.18088095e-02 4.27692178e+01] [-2.55263987e-01 9.66799318e-01 -1.18057447e-02 -6.15389745e+00] [-6.27730730e-02 -4.38700871e-03 9.98018184e-01 -2.02734382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:-6.16, Z:-2.03 [[ 9.64233807e-01 2.58284463e-01 5.95172462e-02 4.28000715e+01] [-2.57690221e-01 9.66067552e-01 -1.75850880e-02 -6.16128668e+00] [-6.20396354e-02 1.61912406e-03 9.98072373e-01 -2.03030611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.213617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.83, Y:-6.17, Z:-2.04 [[ 9.64387773e-01 2.58521938e-01 5.58805025e-02 4.28319001e+01] [-2.57543409e-01 9.65964134e-01 -2.41802568e-02 -6.16671679e+00] [-6.02296880e-02 8.92748894e-03 9.98144621e-01 -2.03773212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.86, Y:-6.19, Z:-2.03 [[ 9.63500700e-01 2.60802403e-01 6.04028808e-02 4.28603678e+01] [-2.60674165e-01 9.65373665e-01 -1.01324918e-02 -6.18582026e+00] [-6.09539287e-02 -5.98280757e-03 9.98122650e-01 -2.03221682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.273617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.89, Y:-6.18, Z:-2.05 [[ 9.64097137e-01 2.58864019e-01 5.92125914e-02 4.28908203e+01] [-2.57594125e-01 9.65838949e-01 -2.82911747e-02 -6.18230766e+00] [-6.45133943e-02 1.20226248e-02 9.97844416e-01 -2.04655511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:-6.20, Z:-2.04 [[ 9.63948964e-01 2.58765767e-01 6.19892980e-02 4.29178033e+01] [-2.58618373e-01 9.65922190e-01 -1.05289873e-02 -6.20413916e+00] [-6.26013800e-02 -5.88216497e-03 9.98021276e-01 -2.04030532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.333617864999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.95, Y:-6.22, Z:-2.04 [[ 9.63240766e-01 2.62315756e-01 5.79454086e-02 4.29510777e+01] [-2.62037157e-01 9.64976947e-01 -1.24908205e-02 -6.21698627e+00] [-5.91925225e-02 -3.15218261e-03 9.98241609e-01 -2.03888980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:-6.22, Z:-2.05 [[ 9.63791734e-01 2.60464611e-01 5.71286303e-02 4.29838137e+01] [-2.59916014e-01 9.65482230e-01 -1.69625594e-02 -6.22213100e+00] [-5.95748238e-02 1.49972862e-03 9.98222716e-01 -2.04535674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.393617864999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.01, Y:-6.23, Z:-2.05 [[ 9.63886374e-01 2.59861726e-01 5.82661243e-02 4.30116499e+01] [-2.59263280e-01 9.65643785e-01 -1.77378950e-02 -6.22990376e+00] [-6.08737208e-02 1.99104878e-03 9.98143490e-01 -2.04958461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.04, Y:-6.24, Z:-2.05 [[ 9.64051746e-01 2.59554899e-01 5.68813289e-02 4.30443888e+01] [-2.59062849e-01 9.65728116e-01 -1.59889250e-02 -6.24475762e+00] [-5.90819024e-02 6.78311973e-04 9.98252908e-01 -2.04859501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.453617865 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.07, Y:-6.26, Z:-2.05 [[ 9.63584407e-01 2.61053731e-01 5.79313312e-02 4.30734512e+01] [-2.60487156e-01 9.65323043e-01 -1.72587216e-02 -6.25855050e+00] [-6.04279026e-02 1.53986729e-03 9.98171377e-01 -2.04964413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.10, Y:-6.27, Z:-2.05 [[ 9.64250582e-01 2.58130439e-01 5.99123619e-02 4.31042727e+01] [-2.57518081e-01 9.66108411e-01 -1.78599033e-02 -6.27190266e+00] [-6.24920214e-02 1.79290567e-03 9.98043853e-01 -2.05154460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.13, Y:-6.28, Z:-2.05 [[ 9.64548253e-01 2.56797412e-01 6.08420741e-02 4.31345173e+01] [-2.56162059e-01 9.66463335e-01 -1.81554714e-02 -6.28227824e+00] [-6.34639119e-02 1.92639722e-03 9.97982275e-01 -2.05382692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-6.29, Z:-2.06 [[ 9.64745055e-01 2.55872989e-01 6.16116263e-02 4.31657260e+01] [-2.55218467e-01 9.66708279e-01 -1.84020980e-02 -6.29319187e+00] [-6.42690691e-02 2.02890819e-03 9.97930544e-01 -2.05648428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.20, Y:-6.31, Z:-2.06 [[ 9.64879677e-01 2.55654759e-01 6.03974618e-02 4.31953248e+01] [-2.55024279e-01 9.66766034e-01 -1.80569439e-02 -6.30588960e+00] [-6.30065582e-02 2.01995903e-03 9.98011069e-01 -2.05927690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-6.31, Z:-2.07 [[ 9.64954227e-01 2.56630630e-01 5.48093002e-02 4.32282039e+01] [-2.55563890e-01 9.66448468e-01 -2.57770737e-02 -6.31309240e+00] [-5.95855508e-02 1.08664183e-02 9.98164056e-01 -2.06515201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.633617865 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.26, Y:-6.33, Z:-2.06 [[ 9.65261454e-01 2.54510936e-01 5.91143695e-02 4.32572170e+01] [-2.54402486e-01 9.67051969e-01 -9.47971504e-03 -6.32994959e+00] [-5.95793586e-02 -5.88843907e-03 9.98206204e-01 -2.06156737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:-6.34, Z:-2.07 [[ 9.63519426e-01 2.61256264e-01 5.80988842e-02 4.32872368e+01] [-2.60682065e-01 9.65268141e-01 -1.73861337e-02 -6.34079254e+00] [-6.06232383e-02 1.60654048e-03 9.98159427e-01 -2.06652607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:-6.35, Z:-2.07 [[ 9.62944267e-01 2.63398961e-01 5.79597005e-02 4.33187210e+01] [-2.62830764e-01 9.64685857e-01 -1.73547272e-02 -6.35157450e+00] [-6.04841205e-02 1.47804272e-03 9.98168065e-01 -2.06962833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:43.35, Y:-6.36, Z:-2.07 [[ 9.62399315e-01 2.65430526e-01 5.77424911e-02 4.33500265e+01] [-2.64869197e-01 9.64129027e-01 -1.73068542e-02 -6.36220775e+00] [-6.02649792e-02 1.36189736e-03 9.98181485e-01 -2.07235690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.753617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:43.38, Y:-6.37, Z:-2.08 [[ 9.62088841e-01 2.66935338e-01 5.59516515e-02 4.33796048e+01] [-2.66409924e-01 9.63713639e-01 -1.67861302e-02 -6.37318039e+00] [-5.84021810e-02 1.24367335e-03 9.98292361e-01 -2.07533057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:43.41, Y:-6.39, Z:-2.08 [[ 9.61100006e-01 2.70138096e-01 5.75516118e-02 4.34097370e+01] [-2.69586789e-01 9.62820962e-01 -1.72846056e-02 -6.38586903e+00] [-6.00811287e-02 1.09708034e-03 9.98192894e-01 -2.07719204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.44, Y:-6.40, Z:-2.08 [[ 9.61162824e-01 2.69750776e-01 5.83141967e-02 4.34408618e+01] [-2.69182845e-01 9.62929481e-01 -1.75331347e-02 -6.39554147e+00] [-6.08820358e-02 1.15501591e-03 9.98144300e-01 -2.08141087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:43.47, Y:-6.41, Z:-2.08 [[ 9.59841828e-01 2.74463813e-01 5.80799477e-02 4.34706637e+01] [-2.73908627e-01 9.61597045e-01 -1.74696124e-02 -6.40809702e+00] [-6.06442825e-02 8.59465983e-04 9.98159072e-01 -2.08137965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.50, Y:-6.42, Z:-2.08 [[ 9.58914973e-01 2.77528885e-01 5.88200049e-02 4.35022366e+01] [-2.76964021e-01 9.60717044e-01 -1.77113754e-02 -6.41830194e+00] [-6.14247995e-02 6.92677966e-04 9.98111474e-01 -2.08331503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:43.53, Y:-6.43, Z:-2.09 [[ 9.57583299e-01 2.82013737e-01 5.91817423e-02 4.35336026e+01] [-2.81449346e-01 9.59410273e-01 -1.78379907e-02 -6.42916837e+00] [-6.18101299e-02 4.24699296e-04 9.98087836e-01 -2.08519944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.56, Y:-6.44, Z:-2.09 [[ 9.57021096e-01 2.83965707e-01 5.89414890e-02 4.35641881e+01] [-2.83408470e-01 9.58834385e-01 -1.77837280e-02 -6.43845444e+00] [-6.15650953e-02 3.14885644e-04 9.98103021e-01 -2.08778027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.60, Y:-6.45, Z:-2.09 [[ 9.56571864e-01 2.85833486e-01 5.71794359e-02 4.35958346e+01] [-2.85123776e-01 9.58273980e-01 -2.03816381e-02 -6.44563256e+00] [-6.06193202e-02 3.19328485e-03 9.98155850e-01 -2.09194021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.993617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.63, Y:-6.46, Z:-2.09 [[ 9.56549134e-01 2.85746135e-01 5.79905312e-02 4.36274146e+01] [-2.85208434e-01 9.58305326e-01 -1.75228955e-02 -6.45688740e+00] [-6.05797346e-02 2.22121920e-04 9.98163337e-01 -2.09319346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:-6.46, Z:-2.11 [[ 9.57035489e-01 2.83669467e-01 6.01224235e-02 4.36554994e+01] [-2.82572408e-01 9.58888004e-01 -2.62036448e-02 -6.45578444e+00] [-6.50838446e-02 8.08888001e-03 9.97847014e-01 -2.10574216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:-6.48, Z:-2.09 [[ 9.55978480e-01 2.86781820e-01 6.21396219e-02 4.36866038e+01] [-2.86939537e-01 9.57926215e-01 -6.56266009e-03 -6.48117475e+00] [-6.14072245e-02 -1.15565525e-02 9.98045890e-01 -2.09355817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617864999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:43.72, Y:-6.49, Z:-2.10 [[ 9.56251629e-01 2.86574920e-01 5.88016773e-02 4.37180829e+01] [-2.86020935e-01 9.58057811e-01 -1.78116664e-02 -6.48517620e+00] [-6.14397831e-02 2.13924318e-04 9.98110769e-01 -2.10016631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.113617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:43.75, Y:-6.50, Z:-2.10 [[ 9.57221904e-01 2.83218447e-01 5.92750988e-02 4.37491548e+01] [-2.82648027e-01 9.59055322e-01 -1.79717361e-02 -6.49526650e+00] [-6.19380261e-02 4.48949772e-04 9.98079896e-01 -2.10211745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617864999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.78, Y:-6.50, Z:-2.10 [[ 9.57700515e-01 2.81513996e-01 5.96623306e-02 4.37806468e+01] [-2.80931660e-01 9.59556946e-01 -1.81071655e-02 -6.50395305e+00] [-6.23468243e-02 5.80204185e-04 9.98054376e-01 -2.10477408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:-6.50, Z:-2.11 [[ 9.59323575e-01 2.75360114e-01 6.22501874e-02 4.38076623e+01] [-2.74553144e-01 9.61335224e-01 -2.13344523e-02 -6.50490561e+00] [-6.57179550e-02 3.37565838e-03 9.97832529e-01 -2.11247747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:-6.52, Z:-2.12 [[ 9.60560808e-01 2.70810320e-01 6.31245114e-02 4.38373498e+01] [-2.70086910e-01 9.62630537e-01 -1.98874205e-02 -6.51511103e+00] [-6.61513011e-02 2.05397250e-03 9.97807490e-01 -2.11504379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.233617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.87, Y:-6.53, Z:-2.11 [[ 9.60499928e-01 2.71473928e-01 6.11702094e-02 4.38695911e+01] [-2.71160631e-01 9.62439077e-01 -1.35253818e-02 -6.53363885e+00] [-6.25443884e-02 -3.59582430e-03 9.98035706e-01 -2.11089101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.90, Y:-6.54, Z:-2.12 [[ 9.62604410e-01 2.63799523e-01 6.16649106e-02 4.38997484e+01] [-2.63075387e-01 9.64573560e-01 -1.97278696e-02 -6.53637219e+00] [-6.46845449e-02 2.76761402e-03 9.97901924e-01 -2.11742646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.93, Y:-6.55, Z:-2.12 [[ 9.62844351e-01 2.63072203e-01 6.10227099e-02 4.39312075e+01] [-2.62514738e-01 9.64776035e-01 -1.71235372e-02 -6.55035855e+00] [-6.33779748e-02 4.67940426e-04 9.97989486e-01 -2.11534023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:-6.56, Z:-2.12 [[ 9.63398117e-01 2.61058341e-01 6.09312066e-02 4.39615007e+01] [-2.60403630e-01 9.65320864e-01 -1.85897471e-02 -6.55831299e+00] [-6.36711735e-02 2.04261991e-03 9.97968842e-01 -2.11878001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:-6.57, Z:-2.12 [[ 9.64110146e-01 2.58804606e-01 5.92604641e-02 4.39926664e+01] [-2.58076593e-01 9.65922394e-01 -1.97585807e-02 -6.56643205e+00] [-6.23546210e-02 3.75570943e-03 9.98046991e-01 -2.12209243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:44.02, Y:-6.58, Z:-2.13 [[ 9.64340820e-01 2.58565928e-01 5.64840117e-02 4.40238067e+01] [-2.57727213e-01 9.65972065e-01 -2.17865525e-02 -6.57541048e+00] [-6.01952375e-02 6.45219500e-03 9.98165769e-01 -2.12512491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.413617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.05, Y:-6.59, Z:-2.12 [[ 9.64247864e-01 2.57830164e-01 6.12344866e-02 4.40533230e+01] [-2.57570762e-01 9.66182053e-01 -1.22287380e-02 -6.59054352e+00] [-6.23165995e-02 -3.98067889e-03 9.98048494e-01 -2.12294478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.09, Y:-6.60, Z:-2.13 [[ 9.64053136e-01 2.59043879e-01 5.91423655e-02 4.40855191e+01] [-2.58420186e-01 9.65863138e-01 -1.80943669e-02 -6.59692273e+00] [-6.18106658e-02 2.16035009e-03 9.98085555e-01 -2.12749931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-6.60, Z:-2.13 [[ 9.63226515e-01 2.62229939e-01 5.85673921e-02 4.41161772e+01] [-2.61623138e-01 9.65003442e-01 -1.79357578e-02 -6.60406278e+00] [-6.12210276e-02 1.95361262e-03 9.98122322e-01 -2.13035179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-6.61, Z:-2.13 [[ 9.62644555e-01 2.64355304e-01 5.85810115e-02 4.41476894e+01] [-2.63751175e-01 9.64423615e-01 -1.79557505e-02 -6.61301385e+00] [-6.12436087e-02 1.83419484e-03 9.98121163e-01 -2.13314245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.533617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:44.18, Y:-6.62, Z:-2.14 [[ 9.61671370e-01 2.67893339e-01 5.84921773e-02 4.41775575e+01] [-2.67296506e-01 9.63447209e-01 -1.79458709e-02 -6.62278367e+00] [-6.11617043e-02 1.62327565e-03 9.98126551e-01 -2.13531219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.21, Y:-6.63, Z:-2.14 [[ 9.61223772e-01 2.69454768e-01 5.86769766e-02 4.42090028e+01] [-2.68856075e-01 9.63011809e-01 -1.80185303e-02 -6.63296767e+00] [-6.13618002e-02 1.54417802e-03 9.98114395e-01 -2.13716211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.593617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.24, Y:-6.64, Z:-2.14 [[ 9.60804369e-01 2.70897271e-01 5.89035908e-02 4.42399086e+01] [-2.70295580e-01 9.62607134e-01 -1.81053683e-02 -6.64267840e+00] [-6.16057116e-02 1.47433669e-03 9.98099475e-01 -2.13921767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:-6.65, Z:-2.14 [[ 9.60022124e-01 2.73274268e-01 6.06522581e-02 4.42713384e+01] [-2.72639860e-01 9.61935171e-01 -1.86610042e-02 -6.65286964e+00] [-6.34431125e-02 1.37875377e-03 9.97984504e-01 -2.14154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.30, Y:-6.66, Z:-2.14 [[ 9.59725925e-01 2.74226324e-01 6.10415639e-02 4.43016046e+01] [-2.73584468e-01 9.61664246e-01 -1.87994065e-02 -6.66253142e+00] [-6.38567817e-02 1.34225397e-03 9.97958170e-01 -2.14342563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:-6.67, Z:-2.15 [[ 9.59475293e-01 2.74959263e-01 6.16811657e-02 4.43317242e+01] [-2.74304683e-01 9.61454974e-01 -1.90071854e-02 -6.67217684e+00] [-6.45298653e-02 1.31749218e-03 9.97914907e-01 -2.14587126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.36, Y:-6.68, Z:-2.15 [[ 9.59241618e-01 2.75568581e-01 6.25897421e-02 4.43628081e+01] [-2.74894743e-01 9.61280519e-01 -1.93039743e-02 -6.68256709e+00] [-6.54858686e-02 1.31158453e-03 9.97852635e-01 -2.14827701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.39, Y:-6.69, Z:-2.15 [[ 9.59072611e-01 2.75878810e-01 6.38013232e-02 4.43939668e+01] [-2.75178057e-01 9.61191503e-01 -1.96959950e-02 -6.69388090e+00] [-6.67589973e-02 1.33316518e-03 9.97768239e-01 -2.15047301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.773617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.42, Y:-6.70, Z:-2.15 [[ 9.59032740e-01 2.76093317e-01 6.34719098e-02 4.44240068e+01] [-2.75399064e-01 9.61129916e-01 -1.96122506e-02 -6.70440365e+00] [-6.64195627e-02 1.32868584e-03 9.97790898e-01 -2.15235522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.46, Y:-6.72, Z:-2.15 [[ 9.59095035e-01 2.75866590e-01 6.35164428e-02 4.44553528e+01] [-2.75169751e-01 9.61194970e-01 -1.96427320e-02 -6.71509141e+00] [-6.64704588e-02 1.36144295e-03 9.97787465e-01 -2.15494415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:-6.76, Z:-2.12 [[ 9.59195802e-01 2.74537475e-01 6.76209178e-02 4.44824168e+01] [-2.77080489e-01 9.60331491e-01 3.14615528e-02 -6.75680967e+00] [-5.63011215e-02 -4.89142263e-02 9.97214913e-01 -2.12246983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.52, Y:-6.71, Z:-2.18 [[ 0.95928112 0.27824061 0.0485994 44.52176535] [-0.27473181 0.95909831 -0.06821193 -6.70865459] [-0.06559093 0.05208262 0.99648644 -2.17837034] [ 0. 0. 0. 1. ]] SLAMing on 43.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-6.75, Z:-2.16 [[ 9.59589033e-01 2.74113922e-01 6.36431063e-02 4.45460432e+01] [-2.73408404e-01 9.61696034e-01 -1.97125034e-02 -6.74550897e+00] [-6.66087945e-02 1.51534191e-03 9.97778018e-01 -2.16240956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.58, Y:-6.76, Z:-2.16 [[ 9.59383499e-01 2.74716197e-01 6.41429139e-02 4.45779356e+01] [-2.73999653e-01 9.61524182e-01 -1.98856103e-02 -6.75524968e+00] [-6.71378621e-02 1.50279021e-03 9.97742577e-01 -2.16457399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.953617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.61, Y:-6.76, Z:-2.17 [[ 9.59366716e-01 2.75678254e-01 6.01415342e-02 4.46097126e+01] [-2.74599169e-01 9.61215589e-01 -2.56882718e-02 -6.76067932e+00] [-6.48906781e-02 8.12965759e-03 9.97859263e-01 -2.16928682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.64, Y:-6.78, Z:-2.17 [[ 9.59500062e-01 2.74095053e-01 6.50502370e-02 4.46378426e+01] [-2.73840062e-01 9.61687668e-01 -1.29788181e-02 -6.77736736e+00] [-6.61154405e-02 -5.36018421e-03 9.97797583e-01 -2.16622814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:-6.79, Z:-2.16 [[ 9.59666331e-01 2.73662434e-01 6.44158777e-02 4.46676102e+01] [-2.74126648e-01 9.61692115e-01 -1.69043357e-03 -6.79304440e+00] [-6.24108498e-02 -1.60358565e-02 9.97921709e-01 -2.15985820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.70, Y:-6.78, Z:-2.19 [[ 9.59834385e-01 2.75972666e-01 5.05671993e-02 4.47040082e+01] [-2.73624463e-01 9.60600279e-01 -4.87520053e-02 -6.77577111e+00] [-6.20290866e-02 3.29574283e-02 9.97530050e-01 -2.18593972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.73, Y:-6.81, Z:-2.17 [[ 9.59729099e-01 2.73024965e-01 6.61621092e-02 4.47268883e+01] [-2.73788558e-01 9.61786429e-01 2.58668942e-03 -6.81184850e+00] [-6.29275880e-02 -2.05969496e-02 9.97805534e-01 -2.16513398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:44.76, Y:-6.80, Z:-2.18 [[ 9.59410199e-01 2.75204778e-01 6.15987030e-02 4.47616350e+01] [-2.73987100e-01 9.61337885e-01 -2.75778747e-02 -6.80426488e+00] [-6.68067297e-02 9.58124423e-03 9.97719931e-01 -2.18225652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.79, Y:-6.82, Z:-2.18 [[ 9.59493286e-01 2.74769385e-01 6.22448360e-02 4.47926348e+01] [-2.74088778e-01 9.61508920e-01 -1.93891241e-02 -6.81765696e+00] [-6.51765027e-02 1.54312335e-03 9.97872558e-01 -2.18055818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:44.82, Y:-6.83, Z:-2.18 [[ 9.59459437e-01 2.73840652e-01 6.66999749e-02 4.48190951e+01] [-2.73435977e-01 9.61768497e-01 -1.53011146e-02 -6.82653229e+00] [-6.83400019e-02 -3.55737402e-03 9.97655747e-01 -2.18354687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:-6.84, Z:-2.18 [[ 9.58523692e-01 2.76105393e-01 7.06975484e-02 4.48496957e+01] [-2.76112063e-01 9.61074743e-01 -9.87255438e-03 -6.84196891e+00] [-7.06714936e-02 -1.00573687e-02 9.97448941e-01 -2.18158893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.89, Y:-6.84, Z:-2.19 [[ 9.59102749e-01 2.77020919e-01 5.81491764e-02 4.48852095e+01] [-2.75425033e-01 9.60720138e-01 -3.40274631e-02 -6.83710515e+00] [-6.52914039e-02 1.66200946e-02 9.97727821e-01 -2.19370213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.91, Y:-6.85, Z:-2.19 [[ 9.58689797e-01 2.77907328e-01 6.06744549e-02 4.49138747e+01] [-2.77264235e-01 9.60606959e-01 -1.89424023e-02 -6.85445618e+00] [-6.35485360e-02 1.33703148e-03 9.97977853e-01 -2.18677606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:44.95, Y:-6.86, Z:-2.20 [[ 9.58147733e-01 2.79522384e-01 6.18074283e-02 4.49450523e+01] [-2.78454430e-01 9.60112437e-01 -2.54409000e-02 -6.86014060e+00] [-6.64533816e-02 7.16558843e-03 9.97763801e-01 -2.19510933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.313617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:44.97, Y:-6.88, Z:-2.19 [[ 9.58015066e-01 2.78896460e-01 6.65123976e-02 4.49749214e+01] [-2.78533472e-01 9.60311588e-01 -1.48579747e-02 -6.87531912e+00] [-6.80164627e-02 -4.29176537e-03 9.97674968e-01 -2.19294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:45.01, Y:-6.88, Z:-2.20 [[ 9.57950346e-01 2.80090507e-01 6.22932057e-02 4.50058032e+01] [-2.79060135e-01 9.59952146e-01 -2.48458943e-02 -6.87860396e+00] [-6.67575956e-02 6.41758267e-03 9.97748585e-01 -2.19943656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:45.04, Y:-6.89, Z:-2.20 [[ 9.58059355e-01 2.78488419e-01 6.75756779e-02 4.50355167e+01] [-2.78081448e-01 9.60431681e-01 -1.55465462e-02 -6.89370753e+00] [-6.92313550e-02 -3.89702831e-03 9.97593020e-01 -2.19776342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-6.90, Z:-2.20 [[ 9.58244487e-01 2.78591962e-01 6.44517014e-02 4.50668295e+01] [-2.77537633e-01 9.60390674e-01 -2.49522609e-02 -6.89956316e+00] [-6.88503123e-02 6.02259375e-03 9.97608823e-01 -2.20304697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:45.10, Y:-6.91, Z:-2.20 [[ 9.58351409e-01 2.77206540e-01 6.86957844e-02 4.50968412e+01] [-2.76713074e-01 9.60805917e-01 -1.67887982e-02 -6.91456349e+00] [-7.06572808e-02 -2.91945331e-03 9.97496379e-01 -2.20114166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.13, Y:-6.92, Z:-2.20 [[ 9.58465713e-01 2.77079478e-01 6.76050365e-02 4.51275521e+01] [-2.76271956e-01 9.60845596e-01 -2.12025402e-02 -6.92193993e+00] [-7.08327904e-02 1.64453217e-03 9.97486848e-01 -2.20474946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.493617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-6.93, Z:-2.21 [[ 9.58741327e-01 2.77108132e-01 6.34519563e-02 4.51604920e+01] [-2.75822855e-01 9.60789831e-01 -2.83664136e-02 -6.92750682e+00] [-6.88245583e-02 9.69455327e-03 9.97581674e-01 -2.21055246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.19, Y:-6.94, Z:-2.21 [[ 9.59112818e-01 2.74308897e-01 6.96938414e-02 4.51882281e+01] [-2.74050770e-01 9.61621501e-01 -1.34262473e-02 -6.94425840e+00] [-7.07020355e-02 -6.22236503e-03 9.97478072e-01 -2.20746893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.22, Y:-6.95, Z:-2.21 [[ 9.59353999e-01 2.74562378e-01 6.52334653e-02 4.52193771e+01] [-2.73631010e-01 9.61560125e-01 -2.29825290e-02 -6.94882363e+00] [-6.90360368e-02 4.19848207e-03 9.97605332e-01 -2.21334058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:45.25, Y:-6.96, Z:-2.22 [[ 9.59926878e-01 2.73187854e-01 6.25202710e-02 4.52504861e+01] [-2.72086887e-01 9.61930523e-01 -2.56591928e-02 -6.95795805e+00] [-6.71499368e-02 7.62000292e-03 9.97713797e-01 -2.21683706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.28, Y:-6.97, Z:-2.21 [[ 9.60725275e-01 2.69765711e-01 6.50646320e-02 4.52804619e+01] [-2.69518447e-01 9.62911288e-01 -1.27144878e-02 -6.97285059e+00] [-6.60814014e-02 -5.32098880e-03 9.97800048e-01 -2.21210274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:-6.98, Z:-2.22 [[ 9.61207779e-01 2.68717563e-01 6.22131586e-02 4.53123459e+01] [-2.68010527e-01 9.63216579e-01 -1.96004840e-02 -6.97753356e+00] [-6.51917401e-02 2.16635624e-03 9.97870404e-01 -2.21681602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.673617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.34, Y:-6.99, Z:-2.22 [[ 9.61066605e-01 2.68497299e-01 6.52700602e-02 4.53419571e+01] [-2.67717567e-01 9.63277687e-01 -2.05767306e-02 -6.98715077e+00] [-6.83979892e-02 2.30166690e-03 9.97655460e-01 -2.22204873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:45.37, Y:-7.00, Z:-2.22 [[ 9.61234206e-01 2.67919302e-01 6.51770509e-02 4.53728783e+01] [-2.67139184e-01 9.63438472e-01 -2.05661536e-02 -6.99688995e+00] [-6.83041479e-02 2.35754610e-03 9.97661759e-01 -2.22391089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.40, Y:-7.00, Z:-2.23 [[ 9.62223825e-01 2.64562441e-01 6.42808292e-02 4.54039713e+01] [-2.63794855e-01 9.64365109e-01 -2.03029916e-02 -7.00311015e+00] [-6.73615979e-02 2.57907018e-03 9.97725295e-01 -2.22633211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:-7.02, Z:-2.22 [[ 9.60514661e-01 2.67676528e-01 7.59003394e-02 4.54271922e+01] [-2.68339207e-01 9.63323291e-01 -1.51898461e-03 -7.02490100e+00] [-7.35231613e-02 -1.89080299e-02 9.97114252e-01 -2.21884292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:-7.01, Z:-2.24 [[ 9.61248121e-01 2.69295579e-01 5.90079667e-02 4.54673149e+01] [-2.67301620e-01 9.62800296e-01 -3.95655609e-02 -7.01417025e+00] [-6.74677184e-02 2.22593960e-02 9.97473121e-01 -2.23650195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.50, Y:-7.03, Z:-2.24 [[ 9.60887417e-01 2.70419247e-01 5.97394599e-02 4.54985610e+01] [-2.69172393e-01 9.62679961e-01 -2.81693980e-02 -7.02739772e+00] [-6.51275284e-02 1.09874067e-02 9.97816457e-01 -2.23567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.53, Y:-7.04, Z:-2.23 [[ 9.61173722e-01 2.68265650e-01 6.46422210e-02 4.55276917e+01] [-2.68079719e-01 9.63325739e-01 -1.16955118e-02 -7.04213911e+00] [-6.54090194e-02 -6.08784991e-03 9.97839966e-01 -2.22986731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:-7.05, Z:-2.24 [[ 9.60036746e-01 2.72409893e-01 6.42051127e-02 4.55587167e+01] [-2.71654951e-01 9.62178959e-01 -2.03773887e-02 -7.04879476e+00] [-6.73278109e-02 2.12140524e-03 9.97728653e-01 -2.23616174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:-7.06, Z:-2.24 [[ 9.60004413e-01 2.72525119e-01 6.41995892e-02 4.55905062e+01] [-2.71769272e-01 9.62146307e-01 -2.03947756e-02 -7.05897225e+00] [-6.73274863e-02 2.13159895e-03 9.97728653e-01 -2.23855423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:-7.07, Z:-2.24 [[ 9.59175141e-01 2.75373716e-01 6.44388559e-02 4.56216590e+01] [-2.74618087e-01 9.61335283e-01 -2.04787486e-02 -7.06737990e+00] [-6.75866549e-02 1.94663119e-03 9.97711509e-01 -2.23960391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:-7.07, Z:-2.24 [[ 9.58987659e-01 2.76917437e-01 6.04929985e-02 4.56546723e+01] [-2.75783717e-01 9.60853918e-01 -2.65158527e-02 -7.07320956e+00] [-6.54676366e-02 8.74539154e-03 9.97816369e-01 -2.24443611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-7.09, Z:-2.24 [[ 9.58209847e-01 2.78282438e-01 6.62780029e-02 4.56836334e+01] [-2.77973587e-01 9.60486348e-01 -1.40235724e-02 -7.08839571e+00] [-6.75616309e-02 -4.98600906e-03 9.97702644e-01 -2.24120651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:-7.09, Z:-2.25 [[ 9.58137778e-01 2.79166452e-01 6.35459708e-02 4.57134736e+01] [-2.78586499e-01 9.60242613e-01 -1.79912877e-02 -7.08917294e+00] [-6.60421130e-02 -4.64917102e-04 9.97816728e-01 -2.24592811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.75, Y:-7.10, Z:-2.25 [[ 9.56963265e-01 2.83695222e-01 6.11418909e-02 4.57474706e+01] [-2.82649069e-01 9.58889388e-01 -2.53109854e-02 -7.09815836e+00] [-6.58089159e-02 6.93998465e-03 9.97808109e-01 -2.25016790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.093617865 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:45.78, Y:-7.11, Z:-2.25 [[ 9.57616949e-01 2.80875266e-01 6.38659901e-02 4.57784683e+01] [-2.80420744e-01 9.59741187e-01 -1.61573432e-02 -7.10918163e+00] [-6.58330193e-02 -2.43680275e-03 9.97827678e-01 -2.24875167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.81, Y:-7.12, Z:-2.25 [[ 9.56707693e-01 2.83830649e-01 6.44247820e-02 4.58085565e+01] [-2.83088521e-01 9.58873353e-01 -2.05616612e-02 -7.11877602e+00] [-6.76112363e-02 1.43358323e-03 9.97710712e-01 -2.25211562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:-7.12, Z:-2.25 [[ 9.57597681e-01 2.80808241e-01 6.44469868e-02 4.58415895e+01] [-2.80057450e-01 9.59762447e-01 -2.05880766e-02 -7.12495231e+00] [-6.76350994e-02 1.66623556e-03 9.97708734e-01 -2.25411884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.87, Y:-7.13, Z:-2.26 [[ 9.57723739e-01 2.80203226e-01 6.52026981e-02 4.58726757e+01] [-2.79432702e-01 9.59939130e-01 -2.08382231e-02 -7.13436200e+00] [-6.84295587e-02 1.73749478e-03 9.97654437e-01 -2.25626457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:-7.14, Z:-2.26 [[ 9.58556894e-01 2.76906008e-01 6.70204760e-02 4.59017715e+01] [-2.76238878e-01 9.60897004e-01 -1.92101418e-02 -7.14198848e+00] [-6.97191783e-02 -9.96471893e-05 9.97566653e-01 -2.25847249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:-7.15, Z:-2.26 [[ 9.58858067e-01 2.76429252e-01 6.46380443e-02 4.59352306e+01] [-2.75534645e-01 9.61026727e-01 -2.25452708e-02 -7.15019114e+00] [-6.83510604e-02 3.80769419e-03 9.97654065e-01 -2.26099083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:-7.16, Z:-2.26 [[ 9.59165729e-01 2.75538437e-01 6.38723247e-02 4.59659491e+01] [-2.74784937e-01 9.61287799e-01 -2.04696365e-02 -7.16040869e+00] [-6.70398581e-02 2.08262115e-03 9.97748125e-01 -2.26130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:-7.19, Z:-2.25 [[ 9.59517451e-01 2.73208327e-01 6.84358886e-02 4.59946484e+01] [-2.74429696e-01 9.61565533e-01 8.94810680e-03 -7.18519258e+00] [-6.33608944e-02 -2.73667047e-02 9.97615387e-01 -2.24717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:-7.18, Z:-2.26 [[ 9.59749441e-01 2.74469699e-01 5.95600148e-02 4.60302008e+01] [-2.73814057e-01 9.61593694e-01 -1.90638621e-02 -7.17983457e+00] [-6.25049871e-02 1.98816167e-03 9.98042671e-01 -2.25970912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-7.17, Z:-2.28 [[ 9.60283505e-01 2.73161839e-01 5.69051890e-02 4.60621309e+01] [-2.70510528e-01 9.61409986e-01 -5.01487093e-02 -7.16979478e+00] [-6.84079306e-02 3.27635256e-02 9.97119304e-01 -2.28029614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.393617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.09, Y:-7.22, Z:-2.25 [[ 9.60405408e-01 2.69821290e-01 6.94112713e-02 4.60861482e+01] [-2.71860971e-01 9.62092680e-01 2.16630428e-02 -7.21858061e+00] [-6.09349258e-02 -3.96755191e-02 9.97352890e-01 -2.24632679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.13, Y:-7.18, Z:-2.29 [[ 9.61251378e-01 2.70792104e-01 5.16471111e-02 4.61253869e+01] [-2.67568316e-01 9.61564928e-01 -6.16448273e-02 -7.17937776e+00] [-6.63549832e-02 4.54370446e-02 9.96761000e-01 -2.28852177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.453617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.15, Y:-7.25, Z:-2.24 [[ 9.60943868e-01 2.68147996e-01 6.84363617e-02 4.61474372e+01] [-2.71169028e-01 9.61727016e-01 3.93510473e-02 -7.24533295e+00] [-5.52651935e-02 -5.63719692e-02 9.96879110e-01 -2.23768799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:-7.19, Z:-2.30 [[ 9.61668375e-01 2.70460117e-01 4.52245726e-02 4.61889115e+01] [-2.66587584e-01 9.60744329e-01 -7.68205282e-02 -7.18579653e+00] [-6.42261407e-02 6.18195630e-02 9.96018747e-01 -2.29726717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51361786499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:46.21, Y:-7.22, Z:-2.28 [[ 9.61578787e-01 2.67060372e-01 6.36002713e-02 4.62122486e+01] [-2.66290083e-01 9.63675933e-01 -2.04520907e-02 -7.22458282e+00] [-6.67519937e-02 2.73017504e-03 9.97765863e-01 -2.28097880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:-7.27, Z:-2.24 [[ 9.61433592e-01 2.66691764e-01 6.72380175e-02 4.62398523e+01] [-2.69689946e-01 9.62107886e-01 4.01963719e-02 -7.26905078e+00] [-5.39701856e-02 -5.67795595e-02 9.96926928e-01 -2.24002309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.573617864999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.28, Y:-7.21, Z:-2.30 [[ 9.61638450e-01 2.70646069e-01 4.47459053e-02 4.62815039e+01] [-2.66771469e-01 9.60653746e-01 -7.73134134e-02 -7.21188931e+00] [-6.39098930e-02 6.24106202e-02 9.96002229e-01 -2.30352490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:-7.25, Z:-2.29 [[ 9.61571807e-01 2.67412332e-01 6.22117759e-02 4.63046656e+01] [-2.66674531e-01 9.63578497e-01 -2.00293597e-02 -7.24947900e+00] [-6.53020273e-02 2.66937137e-03 9.97861974e-01 -2.28597815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.633617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:-7.26, Z:-2.29 [[ 9.61393542e-01 2.68120420e-01 6.19184789e-02 4.63360166e+01] [-2.67390346e-01 9.63381846e-01 -1.99454695e-02 -7.25811302e+00] [-6.49989262e-02 2.61904202e-03 9.97881897e-01 -2.28797594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-7.27, Z:-2.29 [[ 9.60964043e-01 2.69765758e-01 6.14373140e-02 4.63684708e+01] [-2.69049220e-01 9.62922718e-01 -1.98080065e-02 -7.26633727e+00] [-6.45029072e-02 2.50512058e-03 9.97914375e-01 -2.28923194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69361786499999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.40, Y:-7.28, Z:-2.29 [[ 9.60576591e-01 2.71162764e-01 6.13462923e-02 4.63991622e+01] [-2.70449961e-01 9.62530451e-01 -1.97977178e-02 -7.27532255e+00] [-6.44160782e-02 2.42612192e-03 9.97920179e-01 -2.29177191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-7.32, Z:-2.25 [[ 9.60318072e-01 2.71479855e-01 6.39365921e-02 4.64257828e+01] [-2.74533711e-01 9.60524273e-01 4.49929132e-02 -7.32024979e+00] [-4.91979790e-02 -6.07602576e-02 9.96939191e-01 -2.24771201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:-7.30, Z:-2.28 [[ 9.59550709e-01 2.78009644e-01 4.44193021e-02 4.64657069e+01] [-2.77194037e-01 9.60521713e-01 -2.36961052e-02 -7.29594565e+00] [-4.92534499e-02 1.04248489e-02 9.98731906e-01 -2.27587393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:46.50, Y:-7.29, Z:-2.29 [[ 9.59162666e-01 2.79157384e-01 4.55865759e-02 4.64956530e+01] [-2.77196990e-01 9.59762458e-01 -4.49205199e-02 -7.28964588e+00] [-5.62921789e-02 3.04496240e-02 9.97949904e-01 -2.29314710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.813617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.52, Y:-7.30, Z:-2.31 [[ 9.58547038e-01 2.79855166e-01 5.35598978e-02 4.65241782e+01] [-2.77695771e-01 9.59643606e-01 -4.43757704e-02 -7.29810805e+00] [-6.38172020e-02 2.76629061e-02 9.97578131e-01 -2.30544270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-7.32, Z:-2.30 [[ 9.58101368e-01 2.79791411e-01 6.13068976e-02 4.65526493e+01] [-2.79095076e-01 9.60058982e-01 -1.98164259e-02 -7.32011281e+00] [-6.44027034e-02 1.87569157e-03 9.97922228e-01 -2.29961051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-7.34, Z:-2.29 [[ 9.57514623e-01 2.81721674e-01 6.16331432e-02 4.65825681e+01] [-2.81969828e-01 9.59411196e-01 -4.81387872e-03 -7.33657050e+00] [-6.04877016e-02 -1.27693275e-02 9.98087262e-01 -2.29121823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:-7.33, Z:-2.31 [[ 9.57474159e-01 2.83015807e-01 5.60828687e-02 4.66156521e+01] [-2.81497798e-01 9.58976932e-01 -3.34997510e-02 -7.32982354e+00] [-6.32631364e-02 1.62879418e-02 9.97863958e-01 -2.30780750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:-7.35, Z:-2.31 [[ 9.57290741e-01 2.82680225e-01 6.07151413e-02 4.66453770e+01] [-2.82000658e-01 9.59212696e-01 -1.96629988e-02 -7.34736190e+00] [-6.37970753e-02 1.70149687e-03 9.97961441e-01 -2.30509146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:-7.36, Z:-2.30 [[ 9.57520876e-01 2.81890613e-01 6.07573349e-02 4.66752399e+01] [-2.81721864e-01 9.59427149e-01 -1.15038085e-02 -7.36121054e+00] [-6.15350522e-02 -6.10153287e-03 9.98086273e-01 -2.29889807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:-7.36, Z:-2.31 [[ 9.57432339e-01 2.82607251e-01 5.87916580e-02 4.67073675e+01] [-2.81447351e-01 9.59187506e-01 -2.73261251e-02 -7.36291219e+00] [-6.41147849e-02 9.61615942e-03 9.97896199e-01 -2.30991477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:-7.38, Z:-2.31 [[ 9.57294080e-01 2.82533342e-01 6.13429239e-02 4.67381450e+01] [-2.81836705e-01 9.59255849e-01 -1.99069715e-02 -7.37672266e+00] [-6.44679417e-02 1.76813842e-03 9.97918212e-01 -2.30942459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:-7.39, Z:-2.31 [[ 9.57160587e-01 2.83098223e-01 6.08194566e-02 4.67687484e+01] [-2.82704805e-01 9.59087166e-01 -1.51592117e-02 -7.38894683e+00] [-6.26227062e-02 -2.68415267e-03 9.98033663e-01 -2.30852984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:-7.39, Z:-2.32 [[ 9.57192839e-01 2.83464853e-01 5.85623188e-02 4.67999400e+01] [-2.82538344e-01 9.58962904e-01 -2.37114688e-02 -7.39353058e+00] [-6.28804593e-02 6.15034760e-03 9.98002115e-01 -2.31550119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:-7.41, Z:-2.32 [[ 9.56970793e-01 2.84214218e-01 5.85591907e-02 4.68303685e+01] [-2.83580029e-01 9.58759436e-01 -1.90449599e-02 -7.40606341e+00] [-6.15570250e-02 1.61925341e-03 9.98102255e-01 -2.31668795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:-7.42, Z:-2.32 [[ 9.56815918e-01 2.84759936e-01 5.84386763e-02 4.68614677e+01] [-2.84128327e-01 9.58597532e-01 -1.90227821e-02 -7.41628123e+00] [-6.14360970e-02 1.59721745e-03 9.98109741e-01 -2.31917264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:-7.43, Z:-2.32 [[ 9.56667180e-01 2.85129587e-01 5.90679694e-02 4.68921743e+01] [-2.84483844e-01 9.58487628e-01 -1.92460348e-02 -7.42598543e+00] [-6.21035319e-02 1.60816687e-03 9.98068417e-01 -2.32150519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:-7.44, Z:-2.32 [[ 9.56520551e-01 2.85607039e-01 5.91358965e-02 4.69236221e+01] [-2.84959695e-01 9.58345489e-01 -1.92846103e-02 -7.43555227e+00] [-6.21804401e-02 1.59477903e-03 9.98063650e-01 -2.32421566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:-7.44, Z:-2.33 [[ 9.56463425e-01 2.85902053e-01 5.86321868e-02 4.69544838e+01] [-2.85265126e-01 9.58257544e-01 -1.91386401e-02 -7.44441638e+00] [-6.16565118e-02 1.57969113e-03 9.98096177e-01 -2.32788041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:-7.45, Z:-2.33 [[ 9.56386554e-01 2.86249051e-01 5.81914140e-02 4.69844777e+01] [-2.85621290e-01 9.58153976e-01 -1.90114929e-02 -7.45432267e+00] [-6.11983565e-02 1.56162941e-03 9.98124402e-01 -2.33088728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:-7.46, Z:-2.33 [[ 9.56286650e-01 2.86682094e-01 5.76993873e-02 4.70147511e+01] [-2.86064706e-01 9.58024538e-01 -1.88671175e-02 -7.46470919e+00] [-6.06862936e-02 1.53661427e-03 9.98155706e-01 -2.33311310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:-7.48, Z:-2.34 [[ 9.56223954e-01 2.86776012e-01 5.82689287e-02 4.70459544e+01] [-2.86145551e-01 9.57996389e-01 -1.90694151e-02 -7.47552926e+00] [-6.12900741e-02 1.56123686e-03 9.98118775e-01 -2.33592729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:-7.49, Z:-2.34 [[ 9.56180486e-01 2.86899725e-01 5.83731691e-02 4.70775617e+01] [-2.86266142e-01 9.57959328e-01 -1.91212593e-02 -7.48602746e+00] [-6.14050059e-02 1.57311311e-03 9.98111692e-01 -2.33827209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-7.50, Z:-2.34 [[ 9.56135828e-01 2.86986578e-01 5.86769415e-02 4.71083903e+01] [-2.86345422e-01 9.57933279e-01 -1.92388480e-02 -7.49553982e+00] [-6.17298861e-02 1.59307825e-03 9.98091621e-01 -2.34106593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-7.51, Z:-2.34 [[ 9.55907969e-01 2.87725997e-01 5.87682354e-02 4.71392588e+01] [-2.87083222e-01 9.57711494e-01 -1.92851561e-02 -7.50572297e+00] [-6.18318553e-02 1.56346001e-03 9.98085356e-01 -2.34378585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:-7.52, Z:-2.35 [[ 9.55779400e-01 2.88177519e-01 5.86468686e-02 4.71704265e+01] [-2.87537172e-01 9.57575752e-01 -1.92627363e-02 -7.51647172e+00] [-6.17099069e-02 1.54777180e-03 9.98092927e-01 -2.34633639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:-7.52, Z:-2.35 [[ 9.55654243e-01 2.89407023e-01 5.44843396e-02 4.72008806e+01] [-2.88388967e-01 9.57163683e-01 -2.58744393e-02 -7.52396218e+00] [-5.96386756e-02 9.01433523e-03 9.98179328e-01 -2.35111880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:-7.56, Z:-2.34 [[ 9.55378519e-01 2.87504121e-01 6.77736316e-02 4.72250439e+01] [-2.89168839e-01 9.57144824e-01 1.59739889e-02 -7.55926164e+00] [-6.02765930e-02 -3.48592282e-02 9.97572838e-01 -2.33554337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:-7.53, Z:-2.37 [[ 9.55409244e-01 2.90610585e-01 5.23322560e-02 4.72611794e+01] [-2.87980873e-01 9.56201094e-01 -5.24069086e-02 -7.53117563e+00] [-6.52701628e-02 3.49993562e-02 9.97253654e-01 -2.36770872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:47.29, Y:-7.56, Z:-2.36 [[ 9.55358004e-01 2.89149722e-01 6.06920240e-02 4.72875096e+01] [-2.88193421e-01 9.57267612e-01 -2.41509905e-02 -7.55635758e+00] [-6.50817611e-02 5.58180000e-03 9.97864323e-01 -2.36167484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.593617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.32, Y:-7.57, Z:-2.36 [[ 9.55327611e-01 2.88441262e-01 6.44266629e-02 4.73165739e+01] [-2.87957423e-01 9.57494508e-01 -1.68757264e-02 -7.57170606e+00] [-6.65558317e-02 -2.43028841e-03 9.97779743e-01 -2.36199411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:-7.58, Z:-2.37 [[ 9.55251620e-01 2.88910723e-01 6.34423929e-02 4.73481409e+01] [-2.88161572e-01 9.57354635e-01 -2.08568995e-02 -7.58094237e+00] [-6.67626508e-02 1.64192734e-03 9.97767534e-01 -2.36579090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.653617864999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.38, Y:-7.59, Z:-2.37 [[ 9.55429146e-01 2.89789913e-01 5.63644679e-02 4.73798423e+01] [-2.88340678e-01 9.56975608e-01 -3.25167560e-02 -7.58600243e+00] [-6.33624489e-02 1.48152875e-02 9.97880608e-01 -2.37259711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:-7.61, Z:-2.37 [[ 9.55299879e-01 2.87698306e-01 6.80575214e-02 4.74066969e+01] [-2.87788695e-01 9.57654550e-01 -8.68509285e-03 -7.60958944e+00] [-6.76742815e-02 -1.12893171e-02 9.97643595e-01 -2.36639163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:-7.61, Z:-2.37 [[ 9.55232853e-01 2.88728673e-01 6.45441690e-02 4.74390816e+01] [-2.87949928e-01 9.57409411e-01 -2.12616895e-02 -7.61380109e+00] [-6.79340542e-02 1.72437551e-03 9.97688323e-01 -2.37338790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:-7.62, Z:-2.38 [[ 9.55295030e-01 2.88437346e-01 6.49253592e-02 4.74694693e+01] [-2.87647292e-01 9.57497126e-01 -2.14076827e-02 -7.62416437e+00] [-6.83406200e-02 1.77504910e-03 9.97660468e-01 -2.37605060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:-7.63, Z:-2.38 [[ 9.55268305e-01 2.88487825e-01 6.50940952e-02 4.74996529e+01] [-2.87692424e-01 9.57481882e-01 -2.14829181e-02 -7.63448636e+00] [-6.85239771e-02 1.79487277e-03 9.97647855e-01 -2.37891972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:-7.65, Z:-2.38 [[ 9.55234301e-01 2.88601251e-01 6.50903035e-02 4.75313161e+01] [-2.87805331e-01 9.57447692e-01 -2.14943999e-02 -7.64502681e+00] [-6.85238715e-02 1.79885165e-03 9.97647855e-01 -2.38148491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:-7.66, Z:-2.38 [[ 9.55325424e-01 2.88222643e-01 6.54296807e-02 4.75625529e+01] [-2.87416992e-01 9.57561650e-01 -2.16138841e-02 -7.65575719e+00] [-6.88825638e-02 1.84269098e-03 9.97623074e-01 -2.38465009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:-7.67, Z:-2.39 [[ 9.55395918e-01 2.88147081e-01 6.47294320e-02 4.75930437e+01] [-2.87357126e-01 9.57584383e-01 -2.14016886e-02 -7.66752917e+00] [-6.81507273e-02 1.84662233e-03 9.97673327e-01 -2.38742725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-7.68, Z:-2.39 [[ 9.55595082e-01 2.87925555e-01 6.27448386e-02 4.76244058e+01] [-2.87181712e-01 9.57651061e-01 -2.07631673e-02 -7.67832733e+00] [-6.60659077e-02 1.82201038e-03 9.97813598e-01 -2.38923176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.65, Y:-7.69, Z:-2.39 [[ 9.55287578e-01 2.88589290e-01 6.43573191e-02 4.76541761e+01] [-2.87806699e-01 9.57451213e-01 -2.13184974e-02 -7.68850770e+00] [-6.77712833e-02 1.84282819e-03 9.97699182e-01 -2.39310675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-7.70, Z:-2.40 [[ 9.55034691e-01 2.89694288e-01 6.31344508e-02 4.76840392e+01] [-2.88942342e-01 9.57117632e-01 -2.09323086e-02 -7.69858762e+00] [-6.64910663e-02 1.74886473e-03 9.97785488e-01 -2.39591914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:-7.71, Z:-2.40 [[ 9.54781396e-01 2.90496926e-01 6.32773460e-02 4.77152214e+01] [-2.89742140e-01 9.56874390e-01 -2.09974716e-02 -7.70913476e+00] [-6.66481729e-02 1.71388158e-03 9.97775067e-01 -2.39912092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:47.74, Y:-7.72, Z:-2.40 [[ 9.54498436e-01 2.91368921e-01 6.35364975e-02 4.77449553e+01] [-2.90608530e-01 9.56609290e-01 -2.11032946e-02 -7.71962553e+00] [-6.69284479e-02 1.67881360e-03 9.97756365e-01 -2.40144290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:-7.73, Z:-2.40 [[ 9.54058309e-01 2.92747309e-01 6.38103187e-02 4.77763062e+01] [-2.91982185e-01 9.56188492e-01 -2.12125335e-02 -7.73108394e+00] [-6.72246045e-02 1.60651754e-03 9.97736574e-01 -2.40329005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:-7.74, Z:-2.41 [[ 9.53152954e-01 2.95494246e-01 6.46729966e-02 4.78072917e+01] [-2.94713268e-01 9.55343419e-01 -2.15184223e-02 -7.74227536e+00] [-6.81434916e-02 1.45035760e-03 9.97674476e-01 -2.40564473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:-7.75, Z:-2.41 [[ 9.52601521e-01 2.97154337e-01 6.51892848e-02 4.78374086e+01] [-2.96363315e-01 9.54828490e-01 -2.17103473e-02 -7.75198921e+00] [-6.86959102e-02 1.36159732e-03 9.97636716e-01 -2.40853719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.133617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.87, Y:-7.76, Z:-2.41 [[ 9.52017145e-01 2.98996910e-01 6.53008627e-02 4.78679038e+01] [-2.98206222e-01 9.54253262e-01 -2.17660354e-02 -7.76204219e+00] [-6.88215386e-02 1.24851529e-03 9.97628206e-01 -2.41108936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:-7.77, Z:-2.41 [[ 9.51106043e-01 3.01775935e-01 6.57919481e-02 4.78991598e+01] [-3.00978638e-01 9.53378274e-01 -2.19482611e-02 -7.77343399e+00] [-6.93480710e-02 1.07315284e-03 9.97591947e-01 -2.41382654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:-7.78, Z:-2.42 [[ 9.50880709e-01 3.02420316e-01 6.60895618e-02 4.79299984e+01] [-3.01615965e-01 9.53174093e-01 -2.20671353e-02 -7.78385128e+00] [-6.96684082e-02 1.04954630e-03 9.97569652e-01 -2.41748527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:-7.79, Z:-2.42 [[ 9.50049018e-01 3.05905565e-01 6.18760739e-02 4.79606703e+01] [-3.04494611e-01 9.51999442e-01 -3.13064612e-02 -7.79048164e+00] [-6.84828085e-02 1.09017417e-02 9.97592731e-01 -2.42233214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:-7.81, Z:-2.42 [[ 9.49491222e-01 3.06645704e-01 6.65945325e-02 4.79896003e+01] [-3.05908428e-01 9.51823710e-01 -2.12522561e-02 -7.80884517e+00] [-6.99031680e-02 -1.92998150e-04 9.97553763e-01 -2.42025438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.02, Y:-7.82, Z:-2.42 [[ 9.49198259e-01 3.06321306e-01 7.20411158e-02 4.80181305e+01] [-3.06122677e-01 9.51888310e-01 -1.40552753e-02 -7.82427118e+00] [-7.28805263e-02 -8.71217643e-03 9.97302626e-01 -2.41946369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.05, Y:-7.83, Z:-2.42 [[ 9.49299717e-01 3.07134449e-01 6.70706858e-02 4.80501861e+01] [-3.06313335e-01 9.51665820e-01 -2.24568234e-02 -7.83125833e+00] [-7.07261432e-02 7.73610679e-04 9.97495471e-01 -2.42415703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.08, Y:-7.84, Z:-2.43 [[ 9.49287457e-01 3.06849373e-01 6.85331015e-02 4.80797648e+01] [-3.05989684e-01 9.51757726e-01 -2.29683424e-02 -7.84219751e+00] [-7.22747303e-02 8.33137292e-04 9.97384414e-01 -2.42872106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.11, Y:-7.85, Z:-2.43 [[ 9.49530571e-01 3.06138584e-01 6.83437082e-02 4.81093050e+01] [-3.05280358e-01 9.51986528e-01 -2.29249421e-02 -7.85324648e+00] [-7.20804988e-02 9.03941626e-04 9.97398408e-01 -2.43185424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.14, Y:-7.86, Z:-2.43 [[ 9.49859879e-01 3.05038325e-01 6.86864710e-02 4.81397325e+01] [-3.04167666e-01 9.52339546e-01 -2.30525421e-02 -7.86491462e+00] [-7.24447514e-02 1.00448133e-03 9.97371921e-01 -2.43485733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.433617864999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.17, Y:-7.88, Z:-2.44 [[ 9.50793180e-01 3.02084890e-01 6.88262113e-02 4.81687597e+01] [-3.01201424e-01 9.53280206e-01 -2.31203548e-02 -7.87837800e+00] [-7.25949748e-02 1.25212279e-03 9.97360718e-01 -2.43698744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.20, Y:-7.89, Z:-2.44 [[ 9.51305576e-01 3.00453860e-01 6.88852591e-02 4.81996940e+01] [-2.99563197e-01 9.53795328e-01 -2.31595097e-02 -7.89022869e+00] [-7.26608024e-02 1.39628231e-03 9.97355733e-01 -2.43958166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.493617865 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:48.23, Y:-7.90, Z:-2.44 [[ 9.51798866e-01 2.98833682e-01 6.91183655e-02 4.82300495e+01] [-2.97931191e-01 9.54303958e-01 -2.32585870e-02 -7.90169752e+00] [-7.29103789e-02 1.54497976e-03 9.97337300e-01 -2.44221491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:-7.91, Z:-2.44 [[ 9.52265081e-01 2.97265388e-01 6.94586470e-02 4.82610323e+01] [-2.96348290e-01 9.54793392e-01 -2.33937798e-02 -7.91324813e+00] [-7.32728183e-02 1.69312832e-03 9.97310497e-01 -2.44489404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-7.93, Z:-2.44 [[ 9.52394691e-01 2.95773503e-01 7.39079718e-02 4.82859930e+01] [-2.95370828e-01 9.55238955e-01 -1.65714612e-02 -7.92834215e+00] [-7.55011728e-02 -6.04768720e-03 9.97127373e-01 -2.44473194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.32, Y:-7.93, Z:-2.45 [[ 9.53412539e-01 2.94012136e-01 6.75381041e-02 4.83204489e+01] [-2.92578136e-01 9.55756737e-01 -3.04482289e-02 -7.93356331e+00] [-7.35021468e-02 9.26955057e-03 9.97251979e-01 -2.45262370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613617864999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.35, Y:-7.95, Z:-2.45 [[ 9.53590525e-01 2.92988160e-01 6.94481695e-02 4.83494557e+01] [-2.92056602e-01 9.56113837e-01 -2.34365410e-02 -7.94917931e+00] [-7.32669848e-02 2.06606707e-03 9.97310223e-01 -2.45256238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.38, Y:-7.96, Z:-2.46 [[ 9.53804569e-01 2.92317620e-01 6.93343610e-02 4.83794044e+01] [-2.91385986e-01 9.56318913e-01 -2.34167186e-02 -7.96207605e+00] [-7.31508802e-02 2.13191203e-03 9.97318607e-01 -2.45509581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.41, Y:-7.97, Z:-2.46 [[ 9.53796763e-01 2.92393296e-01 6.91223260e-02 4.84093638e+01] [-2.91466028e-01 9.56295761e-01 -2.33660502e-02 -7.97324349e+00] [-7.29334637e-02 2.13965323e-03 9.97334513e-01 -2.45808385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.44, Y:-7.98, Z:-2.47 [[ 9.54536433e-01 2.89824028e-01 6.97296942e-02 4.84379825e+01] [-2.88352828e-01 9.57037267e-01 -3.05338470e-02 -7.97628709e+00] [-7.55833585e-02 9.03891493e-03 9.97098518e-01 -2.46790068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.47, Y:-7.99, Z:-2.47 [[ 9.54714956e-01 2.88934654e-01 7.09656208e-02 4.84675238e+01] [-2.88060469e-01 9.57348276e-01 -2.24820760e-02 -7.99310848e+00] [-7.44346655e-02 1.02158415e-03 9.97225369e-01 -2.46729116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.50, Y:-8.01, Z:-2.46 [[ 9.54246239e-01 2.90771721e-01 6.97561623e-02 4.84973830e+01] [-2.90321958e-01 9.56782836e-01 -1.67261999e-02 -8.01081063e+00] [-7.16050047e-02 -4.29083225e-03 9.97423838e-01 -2.46385821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.53, Y:-8.02, Z:-2.47 [[ 9.54319244e-01 2.91482590e-01 6.56709926e-02 4.85272634e+01] [-2.90360633e-01 9.56557493e-01 -2.62386120e-02 -8.01702127e+00] [-7.04661787e-02 5.97174139e-03 9.97496294e-01 -2.47014129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.56, Y:-8.03, Z:-2.47 [[ 9.55291375e-01 2.87230088e-01 7.01232230e-02 4.85557441e+01] [-2.86143893e-01 9.57852870e-01 -2.52893558e-02 -8.02795767e+00] [-7.44315944e-02 4.09337145e-03 9.97217720e-01 -2.47474893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.853617865 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:48.59, Y:-8.05, Z:-2.47 [[ 9.54885855e-01 2.88477718e-01 7.05238234e-02 4.85856214e+01] [-2.87942117e-01 9.57481110e-01 -1.78678768e-02 -8.04618240e+00] [-7.26797130e-02 -3.24499624e-03 9.97350054e-01 -2.47094295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.62, Y:-8.05, Z:-2.48 [[ 9.55073609e-01 2.88295532e-01 6.87028963e-02 4.86174299e+01] [-2.87357561e-01 9.57537984e-01 -2.33803821e-02 -8.05472561e+00] [-7.25260924e-02 2.58768918e-03 9.97363158e-01 -2.47526449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-8.05, Z:-2.49 [[ 9.55868518e-01 2.85344871e-01 6.99548470e-02 4.86478194e+01] [-2.83025407e-01 9.58222929e-01 -4.12969441e-02 -8.05314195e+00] [-7.88162096e-02 1.96754497e-02 9.96694979e-01 -2.49160864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.68, Y:-8.06, Z:-2.50 [[ 9.55947659e-01 2.83998924e-01 7.42205090e-02 4.86765217e+01] [-2.81537877e-01 9.58631862e-01 -4.19687651e-02 -8.06212788e+00] [-8.30692289e-02 1.92240582e-02 9.96358339e-01 -2.49893604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.973617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.70, Y:-8.08, Z:-2.50 [[ 9.55857524e-01 2.82688759e-01 8.01464830e-02 4.87042837e+01] [-2.81442390e-01 9.59207168e-01 -2.66793767e-02 -8.08147026e+00] [-8.44190409e-02 2.94506520e-03 9.96425989e-01 -2.49608312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:-8.09, Z:-2.49 [[ 9.56148581e-01 2.82350281e-01 7.78345020e-02 4.87353310e+01] [-2.81394507e-01 9.59311332e-01 -2.32141972e-02 -8.09489134e+00] [-8.12220549e-02 2.94020362e-04 9.96695987e-01 -2.49468876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-8.13, Z:-2.47 [[ 9.54730448e-01 2.85827215e-01 8.24170755e-02 4.87626256e+01] [-2.87559167e-01 9.57713577e-01 9.71749418e-03 -8.12849504e+00] [-7.61544279e-02 -3.29773732e-02 9.96550549e-01 -2.47114685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.80, Y:-8.11, Z:-2.50 [[ 9.55111927e-01 2.87597631e-01 7.10549763e-02 4.87980901e+01] [-2.85032512e-01 9.57500600e-01 -4.41482548e-02 -8.10656973e+00] [-8.07321160e-02 2.19135463e-02 9.96494918e-01 -2.50489548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-8.14, Z:-2.48 [[ 9.53537752e-01 2.91378929e-01 7.65772486e-02 4.88243812e+01] [-2.91834541e-01 9.56453456e-01 -5.42107357e-03 -8.14206781e+00] [-7.48221607e-02 -1.71786879e-02 9.97048914e-01 -2.48304064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.86, Y:-8.13, Z:-2.51 [[ 9.53355672e-01 2.93806891e-01 6.92132511e-02 4.88577808e+01] [-2.91534692e-01 9.55675028e-01 -4.11432270e-02 -8.13087635e+00] [-7.82335393e-02 1.90460649e-02 9.96753109e-01 -2.50785572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.88, Y:-8.16, Z:-2.49 [[ 9.52408103e-01 2.95459247e-01 7.49842617e-02 4.88848533e+01] [-2.95721344e-01 9.55242093e-01 -7.83771263e-03 -8.16150594e+00] [-7.39438478e-02 -1.47097457e-02 9.97153915e-01 -2.48973220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:-8.16, Z:-2.50 [[ 9.51960956e-01 2.98343084e-01 6.90053753e-02 4.89172461e+01] [-2.97411240e-01 9.54456630e-01 -2.36451927e-02 -8.16375063e+00] [-7.29170177e-02 1.98632603e-03 9.97336033e-01 -2.49842276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.213617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.95, Y:-8.17, Z:-2.50 [[ 9.51152854e-01 3.01073606e-01 6.82856686e-02 4.89472377e+01] [-3.00166744e-01 9.53599248e-01 -2.34179226e-02 -8.17495867e+00] [-7.21676806e-02 1.77693706e-03 9.97390931e-01 -2.50191634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-8.19, Z:-2.50 [[ 9.50862940e-01 3.02073448e-01 6.79065708e-02 4.89783319e+01] [-3.01177827e-01 9.53283121e-01 -2.33068057e-02 -8.18640598e+00] [-7.17745549e-02 1.70962436e-03 9.97419416e-01 -2.50446163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-8.20, Z:-2.51 [[ 9.50618771e-01 3.02823036e-01 6.79864796e-02 4.90088487e+01] [-3.01925734e-01 9.53045332e-01 -2.33548007e-02 -8.19800737e+00] [-7.18665686e-02 1.67464418e-03 9.97412849e-01 -2.50706362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-8.21, Z:-2.51 [[ 9.50600463e-01 3.03115903e-01 6.69291300e-02 4.90388826e+01] [-3.02245633e-01 9.52952276e-01 -2.30116763e-02 -8.21030043e+00] [-7.07554718e-02 1.64587290e-03 9.97492333e-01 -2.50926233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-8.22, Z:-2.51 [[ 9.50456235e-01 3.03455140e-01 6.74382963e-02 4.90689511e+01] [-3.02571395e-01 9.52844303e-01 -2.32009532e-02 -8.22135434e+00] [-7.12986449e-02 1.64659121e-03 9.97453654e-01 -2.51199344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.10, Y:-8.23, Z:-2.51 [[ 9.50442413e-01 3.03568934e-01 6.71202028e-02 4.90988870e+01] [-3.02692926e-01 9.52808063e-01 -2.31038201e-02 -8.23196550e+00] [-7.09662725e-02 1.64203988e-03 9.97477364e-01 -2.51466327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-8.24, Z:-2.52 [[ 9.50447265e-01 3.03588315e-01 6.69636621e-02 4.91294989e+01] [-3.02715132e-01 9.52801867e-01 -2.30683937e-02 -8.24298734e+00] [-7.08063970e-02 1.65437787e-03 9.97488705e-01 -2.51751450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.16, Y:-8.25, Z:-2.52 [[ 9.50746018e-01 3.02645761e-01 6.69892033e-02 4.91590311e+01] [-3.01768169e-01 9.53101517e-01 -2.30969965e-02 -8.25460999e+00] [-7.08377194e-02 1.74416820e-03 9.97486328e-01 -2.51997119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.453617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.19, Y:-8.27, Z:-2.52 [[ 9.50905706e-01 3.02068298e-01 6.73281660e-02 4.91888377e+01] [-3.01178998e-01 9.53284560e-01 -2.32327337e-02 -8.26587925e+00] [-7.12007734e-02 1.81430948e-03 9.97460354e-01 -2.52259099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:-8.28, Z:-2.52 [[ 9.51150248e-01 3.01326990e-01 6.71956153e-02 4.92195070e+01] [-3.00438507e-01 9.53519019e-01 -2.31987716e-02 -8.27760868e+00] [-7.10627132e-02 1.87736703e-03 9.97470083e-01 -2.52462893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.25, Y:-8.29, Z:-2.53 [[ 9.51393539e-01 3.00539236e-01 6.72792819e-02 4.92499886e+01] [-2.99645176e-01 9.53767444e-01 -2.32471921e-02 -8.28959400e+00] [-7.11554821e-02 1.95731609e-03 9.97463316e-01 -2.52664605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.28, Y:-8.30, Z:-2.53 [[ 9.51891342e-01 2.98910088e-01 6.74954228e-02 4.92801919e+01] [-2.98004684e-01 9.54278955e-01 -2.33427375e-02 -8.30350548e+00] [-7.13868413e-02 2.10579756e-03 9.97446482e-01 -2.52853403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.573617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.31, Y:-8.32, Z:-2.53 [[ 9.52237344e-01 2.97850995e-01 6.72965475e-02 4.93098333e+01] [-2.96946820e-01 9.54609843e-01 -2.32945097e-02 -8.31533567e+00] [-7.11802395e-02 2.19840630e-03 9.97461047e-01 -2.53089802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.34, Y:-8.33, Z:-2.53 [[ 9.52462012e-01 2.97245283e-01 6.67933880e-02 4.93407523e+01] [-2.96351785e-01 9.54798514e-01 -2.31390777e-02 -8.32715734e+00] [-7.06522093e-02 2.24475276e-03 9.97498484e-01 -2.53315078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.633617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.37, Y:-8.34, Z:-2.54 [[ 9.52656187e-01 2.96693066e-01 6.64786734e-02 4.93708383e+01] [-2.95805175e-01 9.54970135e-01 -2.30508069e-02 -8.33832375e+00] [-7.03241623e-02 2.29475817e-03 9.97521552e-01 -2.53592962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:49.40, Y:-8.35, Z:-2.54 [[ 9.52285742e-01 2.97833589e-01 6.66859730e-02 4.94020276e+01] [-2.96942064e-01 9.54615202e-01 -2.31349742e-02 -8.34898849e+00] [-7.05498160e-02 2.22923558e-03 9.97505766e-01 -2.53848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:-8.36, Z:-2.54 [[ 9.51813766e-01 2.99325602e-01 6.67438362e-02 4.94332715e+01] [-2.98434764e-01 9.54148629e-01 -2.31751150e-02 -8.35970131e+00] [-7.06204450e-02 2.13971242e-03 9.97500965e-01 -2.54062401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:-8.37, Z:-2.54 [[ 9.51777833e-01 2.99441303e-01 6.67372618e-02 4.94647657e+01] [-2.98549424e-01 9.54112299e-01 -2.31940315e-02 -8.37072343e+00] [-7.06200933e-02 2.15119400e-03 9.97500965e-01 -2.54313647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.50, Y:-8.38, Z:-2.55 [[ 9.51272244e-01 3.01029261e-01 6.68019601e-02 4.94951663e+01] [-3.00138956e-01 9.53612714e-01 -2.32249524e-02 -8.38133433e+00] [-7.06945887e-02 2.04338205e-03 9.97495915e-01 -2.54552440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.53, Y:-8.39, Z:-2.55 [[ 9.51005767e-01 3.01890023e-01 6.67116531e-02 4.95254398e+01] [-3.01002889e-01 9.53340671e-01 -2.32126364e-02 -8.39222323e+00] [-7.06065954e-02 1.99495075e-03 9.97502245e-01 -2.54810659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.813617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:49.56, Y:-8.40, Z:-2.55 [[ 9.50974993e-01 3.02133541e-01 6.60445708e-02 4.95561653e+01] [-3.01263382e-01 9.53263565e-01 -2.29989084e-02 -8.40302092e+00] [-6.99066246e-02 1.97457594e-03 9.97551585e-01 -2.55074869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.59, Y:-8.41, Z:-2.55 [[ 9.50864144e-01 3.02384712e-01 6.64895927e-02 4.95874219e+01] [-3.01501947e-01 9.53183891e-01 -2.31742433e-02 -8.41257583e+00] [-7.03843456e-02 1.98881536e-03 9.97517964e-01 -2.55379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.62, Y:-8.42, Z:-2.56 [[ 9.50842487e-01 3.02385727e-01 6.67939840e-02 4.96184011e+01] [-3.01493396e-01 9.53183509e-01 -2.33008756e-02 -8.42367629e+00] [-7.07127763e-02 2.01751747e-03 9.97494678e-01 -2.55663316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.65, Y:-8.43, Z:-2.56 [[ 9.51029261e-01 3.01819865e-01 6.66941803e-02 4.96487217e+01] [-3.00927372e-01 9.53362712e-01 -2.32864137e-02 -8.43437337e+00] [-7.06120468e-02 2.07595637e-03 9.97501694e-01 -2.55831021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.68, Y:-8.44, Z:-2.56 [[ 9.51239314e-01 3.01137615e-01 6.67825074e-02 4.96794343e+01] [-3.00239737e-01 9.53578274e-01 -2.33361446e-02 -8.44483636e+00] [-7.07097391e-02 2.14749575e-03 9.97494622e-01 -2.56087433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.71, Y:-8.45, Z:-2.56 [[ 9.51867235e-01 2.99029856e-01 6.73046226e-02 4.97110113e+01] [-2.98111151e-01 9.54240882e-01 -2.35389039e-02 -8.45443068e+00] [-7.12636575e-02 2.34165291e-03 9.97454765e-01 -2.56436075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:-8.46, Z:-2.57 [[ 9.52090722e-01 2.98299796e-01 6.73831529e-02 4.97416083e+01] [-2.97375633e-01 9.54469162e-01 -2.35871269e-02 -8.46469571e+00] [-7.13511766e-02 2.41897692e-03 9.97448324e-01 -2.56646190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:49.77, Y:-8.48, Z:-2.57 [[ 9.52245076e-01 2.97727759e-01 6.77310662e-02 4.97724181e+01] [-2.96791176e-01 9.54647561e-01 -2.37282945e-02 -8.47506244e+00] [-7.17238691e-02 2.49316881e-03 9.97421411e-01 -2.56883027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:-8.48, Z:-2.57 [[ 9.52285179e-01 2.97541403e-01 6.79856733e-02 4.98046180e+01] [-2.96595821e-01 9.54705547e-01 -2.38377128e-02 -8.48388753e+00] [-7.19990059e-02 2.53603396e-03 9.97401480e-01 -2.57124000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:-8.49, Z:-2.57 [[ 9.52110360e-01 2.98064058e-01 6.81445466e-02 4.98358938e+01] [-2.97113916e-01 9.54542539e-01 -2.39136462e-02 -8.49347929e+00] [-7.21746669e-02 2.52173716e-03 9.97388820e-01 -2.57406794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:-8.50, Z:-2.58 [[ 9.51923461e-01 2.98618620e-01 6.83274707e-02 4.98672655e+01] [-2.97663309e-01 9.54369237e-01 -2.39982148e-02 -8.50309878e+00] [-7.23759498e-02 2.50588265e-03 9.97374274e-01 -2.57706509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:49.90, Y:-8.51, Z:-2.58 [[ 9.51463497e-01 3.00103550e-01 6.82280978e-02 4.98995502e+01] [-2.99153365e-01 9.53903589e-01 -2.39834729e-02 -8.51162671e+00] [-7.22805527e-02 2.40873396e-03 9.97381431e-01 -2.57985999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.93, Y:-8.52, Z:-2.58 [[ 9.51341886e-01 3.00481350e-01 6.82610780e-02 4.99311832e+01] [-2.99529745e-01 9.53784669e-01 -2.40153376e-02 -8.52131380e+00] [-7.23225307e-02 2.40057331e-03 9.97378408e-01 -2.58248581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:-8.53, Z:-2.58 [[ 9.51180969e-01 3.01000501e-01 6.82162906e-02 4.99614682e+01] [-3.00049959e-01 9.53621013e-01 -2.40205229e-02 -8.53108223e+00] [-7.22826775e-02 2.37956903e-03 9.97381347e-01 -2.58475232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.99, Y:-8.54, Z:-2.59 [[ 9.50906367e-01 3.01723386e-01 6.88482366e-02 4.99924966e+01] [-3.00755566e-01 9.53392576e-01 -2.42628281e-02 -8.54103484e+00] [-7.29600603e-02 2.36518731e-03 9.97332059e-01 -2.58696795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.02, Y:-8.55, Z:-2.59 [[ 9.50528018e-01 3.02871998e-01 6.90292737e-02 5.00237602e+01] [-3.01900537e-01 9.53028461e-01 -2.43478616e-02 -8.55118441e+00] [-7.31611480e-02 2.30334983e-03 9.97317473e-01 -2.58922060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.293617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.05, Y:-8.56, Z:-2.59 [[ 9.50157144e-01 3.04063190e-01 6.88983128e-02 5.00546104e+01] [-3.03096955e-01 9.52649260e-01 -2.43233158e-02 -8.56067908e+00] [-7.30317516e-02 2.22810344e-03 9.97327127e-01 -2.59150250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.09, Y:-8.57, Z:-2.59 [[ 9.49039029e-01 3.07514854e-01 6.89893942e-02 5.00864704e+01] [-3.06554178e-01 9.51541225e-01 -2.43686933e-02 -8.56970444e+00] [-7.31399878e-02 1.97785399e-03 9.97319723e-01 -2.59445675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-8.58, Z:-2.60 [[ 9.48391702e-01 3.09556277e-01 6.87611139e-02 5.01171320e+01] [-3.08605796e-01 9.50879355e-01 -2.43087468e-02 -8.58008002e+00] [-7.29084488e-02 1.83413541e-03 9.97336951e-01 -2.59639490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.15, Y:-8.59, Z:-2.60 [[ 9.47628198e-01 3.11962198e-01 6.84133385e-02 5.01478575e+01] [-3.11026672e-01 9.50093078e-01 -2.41982080e-02 -8.59035807e+00] [-7.25479655e-02 1.65253125e-03 9.97363556e-01 -2.59894500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:-8.60, Z:-2.60 [[ 9.46574292e-01 3.15341528e-01 6.75043025e-02 5.01780720e+01] [-3.14437880e-01 9.48977227e-01 -2.38964826e-02 -8.59924381e+00] [-7.15955992e-02 1.39388630e-03 9.97432768e-01 -2.60127956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.21, Y:-8.61, Z:-2.60 [[ 9.46045961e-01 3.16869158e-01 6.77567453e-02 5.02094033e+01] [-3.15961285e-01 9.48468367e-01 -2.40046328e-02 -8.60993445e+00] [-7.18714574e-02 1.30097762e-03 9.97413054e-01 -2.60396811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.473617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.24, Y:-8.62, Z:-2.61 [[ 9.45717738e-01 3.17768258e-01 6.81270424e-02 5.02393479e+01] [-3.16851372e-01 9.48167576e-01 -2.41548266e-02 -8.61989565e+00] [-7.22714898e-02 1.25750112e-03 9.97384204e-01 -2.60649527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:-8.63, Z:-2.61 [[ 9.45381117e-01 3.18893291e-01 6.75397079e-02 5.02704817e+01] [-3.17993799e-01 9.47789893e-01 -2.39637501e-02 -8.63016818e+00] [-7.16553317e-02 1.17766853e-03 9.97428758e-01 -2.60897452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:-8.64, Z:-2.61 [[ 9.45288137e-01 3.19173377e-01 6.75180920e-02 5.03014769e+01] [-3.18273758e-01 9.47695613e-01 -2.39758114e-02 -8.64129619e+00] [-7.16390403e-02 1.17481323e-03 9.97429931e-01 -2.61174626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:-8.65, Z:-2.61 [[ 9.45163410e-01 3.19523315e-01 6.76090198e-02 5.03323376e+01] [-3.18620729e-01 9.47577694e-01 -2.40280119e-02 -8.65263155e+00] [-7.17423090e-02 1.16876244e-03 9.97422516e-01 -2.61459948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:-8.66, Z:-2.62 [[ 9.45033539e-01 3.19863016e-01 6.78178479e-02 5.03630522e+01] [-3.18954278e-01 9.47463083e-01 -2.41221030e-02 -8.66410357e+00] [-7.19706759e-02 1.16540366e-03 9.97406068e-01 -2.61704590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:-8.67, Z:-2.62 [[ 9.45126583e-01 3.20203548e-01 6.48492836e-02 5.03938618e+01] [-3.19043914e-01 9.47332350e-01 -2.77920637e-02 -8.67308232e+00] [-7.03329416e-02 5.57724890e-03 9.97507981e-01 -2.62071700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:-8.69, Z:-2.62 [[ 9.44922556e-01 3.20554931e-01 6.60749615e-02 5.04230720e+01] [-3.19688183e-01 9.47229214e-01 -2.35856297e-02 -8.68637340e+00] [-7.01486237e-02 1.16320905e-03 9.97535873e-01 -2.62175881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:-8.70, Z:-2.62 [[ 9.44798388e-01 3.20426999e-01 6.84291219e-02 5.04512269e+01] [-3.19833467e-01 9.47267744e-01 -1.97579043e-02 -8.69886749e+00] [-7.11516659e-02 -3.21868720e-03 9.97460315e-01 -2.62280605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-8.71, Z:-2.63 [[ 9.44428575e-01 3.22037210e-01 6.59295283e-02 5.04823767e+01] [-3.21180424e-01 9.46726467e-01 -2.34975102e-02 -8.70853504e+00] [-6.99843020e-02 1.01644624e-03 9.97547575e-01 -2.62701759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:-8.72, Z:-2.63 [[ 9.44186401e-01 3.22786541e-01 6.57334702e-02 5.05126189e+01] [-3.21935245e-01 9.46471285e-01 -2.34479039e-02 -8.71990867e+00] [-6.97835098e-02 9.77271117e-04 9.97561681e-01 -2.62994101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:-8.73, Z:-2.63 [[ 9.43951639e-01 3.23598285e-01 6.51110817e-02 5.05423278e+01] [-3.22763603e-01 9.46194108e-01 -2.32457947e-02 -8.73138404e+00] [-6.91300211e-02 9.27418699e-04 9.97607227e-01 -2.63231106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.57, Y:-8.74, Z:-2.63 [[ 9.43667865e-01 3.24481809e-01 6.48268168e-02 5.05730770e+01] [-3.23655223e-01 9.45891531e-01 -2.31626657e-02 -8.74336952e+00] [-6.88350006e-02 8.76325496e-04 9.97627673e-01 -2.63498014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:-8.76, Z:-2.64 [[ 9.43546542e-01 3.24956170e-01 6.42137932e-02 5.06034633e+01] [-3.24144938e-01 9.45728694e-01 -2.29629485e-02 -8.75554888e+00] [-6.81907785e-02 8.52034655e-04 9.97671936e-01 -2.63826204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.63, Y:-8.77, Z:-2.64 [[ 9.43506561e-01 3.25098356e-01 6.40814176e-02 5.06336031e+01] [-3.24289452e-01 9.45679820e-01 -2.29353469e-02 -8.76779951e+00] [-6.80567470e-02 8.58722460e-04 9.97681082e-01 -2.64096144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.66, Y:-8.78, Z:-2.64 [[ 9.43544366e-01 3.25058857e-01 6.37241609e-02 5.06632593e+01] [-3.24257535e-01 9.45693382e-01 -2.28271326e-02 -8.78019907e+00] [-6.76836789e-02 8.75373066e-04 9.97706446e-01 -2.64314849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.69, Y:-8.79, Z:-2.65 [[ 9.43678993e-01 3.24615286e-01 6.39912033e-02 5.06932101e+01] [-3.23804954e-01 9.45845682e-01 -2.29411851e-02 -8.79269049e+00] [-6.79728626e-02 9.28445791e-04 9.97686738e-01 -2.64558264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:-8.81, Z:-2.65 [[ 9.44289775e-01 3.22719478e-01 6.45674770e-02 5.07228366e+01] [-3.21888707e-01 9.46494027e-01 -2.31671399e-02 -8.80721666e+00] [-6.85892187e-02 1.09295162e-03 9.97644388e-01 -2.64703631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:-8.82, Z:-2.65 [[ 9.44846957e-01 3.21581116e-01 6.20468663e-02 5.07549122e+01] [-3.20438788e-01 9.46860315e-01 -2.78303110e-02 -8.81808601e+00] [-6.76994179e-02 6.41316205e-03 9.97685151e-01 -2.65154131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.78, Y:-8.84, Z:-2.65 [[ 9.44924328e-01 3.20382054e-01 6.68831368e-02 5.07817434e+01] [-3.19853348e-01 9.47281320e-01 -1.87599678e-02 -8.83512751e+00] [-6.93675032e-02 -3.66604522e-03 9.97584437e-01 -2.64981052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.81, Y:-8.87, Z:-2.63 [[ 9.45341169e-01 3.18686307e-01 6.90587634e-02 5.08094662e+01] [-3.19815796e-01 9.47462768e-01 5.67094656e-03 -8.86547306e+00] [-6.36233542e-02 -2.74470627e-02 9.97596475e-01 -2.63469062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:50.84, Y:-8.84, Z:-2.67 [[ 9.45902419e-01 3.19667228e-01 5.55110480e-02 5.08446027e+01] [-3.17045816e-01 9.47029432e-01 -5.11586309e-02 -8.84417924e+00] [-6.89243340e-02 3.07915272e-02 9.97146588e-01 -2.66752278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:-8.87, Z:-2.66 [[ 9.46324008e-01 3.17178450e-01 6.21988877e-02 5.08717944e+01] [-3.16044309e-01 9.48344142e-01 -2.75569028e-02 -8.86946911e+00] [-6.77264065e-02 6.42015431e-03 9.97683274e-01 -2.66094516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.90, Y:-8.89, Z:-2.66 [[ 9.46076336e-01 3.17053492e-01 6.64578842e-02 5.08996573e+01] [-3.16500510e-01 9.48402634e-01 -1.89702676e-02 -8.88561197e+00] [-6.90434220e-02 -3.08663300e-03 9.97608881e-01 -2.65946301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:-8.89, Z:-2.66 [[ 9.45207623e-01 3.19633430e-01 6.64606604e-02 5.09303328e+01] [-3.18739058e-01 9.47540178e-01 -2.39379165e-02 -8.89267940e+00] [-7.06255043e-02 1.44269293e-03 9.97501858e-01 -2.66411860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:-8.90, Z:-2.67 [[ 9.44888877e-01 3.20660626e-01 6.60437206e-02 5.09608867e+01] [-3.19778635e-01 9.47193154e-01 -2.38065779e-02 -8.90461690e+00] [-7.01899922e-02 1.37519990e-03 9.97532693e-01 -2.66621865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:-8.93, Z:-2.66 [[ 9.44334796e-01 3.21834504e-01 6.82227684e-02 5.09900408e+01] [-3.22239138e-01 9.46643518e-01 -5.29026281e-03 -8.92859180e+00] [-6.62852307e-02 -1.69882668e-02 9.97656087e-01 -2.65662345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:-8.92, Z:-2.68 [[ 9.44270600e-01 3.24084044e-01 5.76417065e-02 5.10232063e+01] [-3.21942797e-01 9.45761194e-01 -4.34580174e-02 -8.91656229e+00] [-6.85993392e-02 2.24787959e-02 9.97391014e-01 -2.67892361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:-8.94, Z:-2.67 [[ 9.43724943e-01 3.23931413e-01 6.67208498e-02 5.10503059e+01] [-3.23239921e-01 9.46079299e-01 -2.12111755e-02 -8.93901700e+00] [-6.99941808e-02 -1.54932684e-03 9.97546197e-01 -2.67198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.313617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:-8.95, Z:-2.68 [[ 9.43610843e-01 3.24547575e-01 6.53257143e-02 5.10806960e+01] [-3.23624489e-01 9.45867219e-01 -2.45437045e-02 -8.94810513e+00] [-6.97550515e-02 2.01870480e-03 9.97562107e-01 -2.67567182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:-8.96, Z:-2.68 [[ 9.43357996e-01 3.25072804e-01 6.63578439e-02 5.11108418e+01] [-3.24249489e-01 9.45688947e-01 -2.31232562e-02 -8.95953193e+00] [-7.02706212e-02 2.97011626e-04 9.97527920e-01 -2.67744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.14, Y:-8.97, Z:-2.68 [[ 9.43478930e-01 3.24842875e-01 6.57618083e-02 5.11423460e+01] [-3.23972074e-01 9.45767303e-01 -2.37971514e-02 -8.96802642e+00] [-6.99257032e-02 1.14712147e-03 9.97551543e-01 -2.68101732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.17, Y:-8.98, Z:-2.68 [[ 9.43158009e-01 3.25787341e-01 6.56930588e-02 5.11721299e+01] [-3.25165701e-01 9.45440354e-01 -2.02436066e-02 -8.98228907e+00] [-6.87039795e-02 -2.26820981e-03 9.97634511e-01 -2.68131789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433617864999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:51.20, Y:-8.99, Z:-2.69 [[ 9.43391699e-01 3.25328261e-01 6.46035939e-02 5.12014704e+01] [-3.24144382e-01 9.45583473e-01 -2.83251741e-02 -8.98754571e+00] [-7.03030703e-02 5.78084215e-03 9.97508927e-01 -2.68712136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:-9.00, Z:-2.69 [[ 9.43515463e-01 3.24351350e-01 6.76370746e-02 5.12317211e+01] [-3.23513029e-01 9.45936674e-01 -2.33051394e-02 -9.00193777e+00] [-7.15394428e-02 1.07284524e-04 9.97437766e-01 -2.68667542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.493617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.26, Y:-9.02, Z:-2.69 [[ 9.43524686e-01 3.24709046e-01 6.57662651e-02 5.12630907e+01] [-3.24153046e-01 9.45808702e-01 -1.92536430e-02 -9.01547386e+00] [-6.84541378e-02 -3.15204762e-03 9.97649285e-01 -2.68561244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.29, Y:-9.02, Z:-2.69 [[ 9.43518656e-01 3.24555321e-01 6.66062261e-02 5.12930713e+01] [-3.23297367e-01 9.45847763e-01 -2.91688527e-02 -9.01914250e+00] [-7.24662563e-02 5.98773913e-03 9.97352891e-01 -2.69413269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:-9.03, Z:-2.70 [[ 9.43376570e-01 3.24573392e-01 6.85037242e-02 5.13233653e+01] [-3.23619630e-01 9.45859593e-01 -2.48990880e-02 -9.03238728e+00] [-7.28764862e-02 1.32006632e-03 9.97340100e-01 -2.69502641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.35, Y:-9.04, Z:-2.70 [[ 9.43363520e-01 3.25357382e-01 6.48678929e-02 5.13540949e+01] [-3.24050453e-01 9.45562823e-01 -3.00374922e-02 -9.04005167e+00] [-7.11095878e-02 7.31580430e-03 9.97441680e-01 -2.70067893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.38, Y:-9.05, Z:-2.70 [[ 9.43330518e-01 3.25056531e-01 6.68265267e-02 5.13845548e+01] [-3.24147449e-01 9.45693711e-01 -2.43276982e-02 -9.05461638e+00] [-7.11053032e-02 1.28741202e-03 9.97467984e-01 -2.70082685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617864999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:51.41, Y:-9.07, Z:-2.70 [[ 9.42890036e-01 3.26135319e-01 6.77800479e-02 5.14134175e+01] [-3.25403678e-01 9.45322020e-01 -2.18797780e-02 -9.06658139e+00] [-7.12097402e-02 -1.42565221e-03 9.97460345e-01 -2.70211866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:-9.08, Z:-2.70 [[ 9.42850508e-01 3.26081062e-01 6.85861528e-02 5.14442274e+01] [-3.25397913e-01 9.45338994e-01 -2.12222857e-02 -9.07808655e+00] [-7.17573501e-02 -2.30834815e-03 9.97419447e-01 -2.70425631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.47, Y:-9.09, Z:-2.71 [[ 9.42601986e-01 3.27038931e-01 6.74317015e-02 5.14746062e+01] [-3.26114603e-01 9.45010108e-01 -2.46000396e-02 -9.08734926e+00] [-7.17688102e-02 1.19758357e-03 9.97420575e-01 -2.70807850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73361786499999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:51.50, Y:-9.10, Z:-2.71 [[ 9.41168227e-01 3.30960062e-01 6.83213371e-02 5.15041139e+01] [-3.30020484e-01 9.43644310e-01 -2.49378272e-02 -9.10073050e+00] [-7.27244659e-02 9.23249898e-04 9.97351643e-01 -2.71046755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.54, Y:-9.11, Z:-2.71 [[ 9.41863201e-01 3.29101587e-01 6.77189518e-02 5.15352753e+01] [-3.28172004e-01 9.44293905e-01 -2.47417929e-02 -9.10830202e+00] [-7.20891567e-02 1.07992009e-03 9.97397607e-01 -2.71349657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793617864999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:51.57, Y:-9.12, Z:-2.72 [[ 9.41667021e-01 3.29644602e-01 6.78060281e-02 5.15658795e+01] [-3.28712423e-01 9.44104502e-01 -2.47958002e-02 -9.11867562e+00] [-7.21897781e-02 1.06070352e-03 9.97390350e-01 -2.71639361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:-9.14, Z:-2.72 [[ 9.41064508e-01 3.31120823e-01 6.89680608e-02 5.15978841e+01] [-3.30584276e-01 9.43577362e-01 -1.93855419e-02 -9.13517699e+00] [-7.14956574e-02 -4.55671102e-03 9.97430503e-01 -2.71586285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:-9.14, Z:-2.72 [[ 9.41251588e-01 3.31075752e-01 6.65904955e-02 5.16262687e+01] [-3.29703548e-01 9.43576840e-01 -3.09567135e-02 -9.13690061e+00] [-7.30822665e-02 7.18293312e-03 9.97300049e-01 -2.72330094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.65, Y:-9.15, Z:-2.72 [[ 9.40767726e-01 3.31859502e-01 6.94647943e-02 5.16538598e+01] [-3.30966227e-01 9.43328819e-01 -2.43330019e-02 -9.15092451e+00] [-7.36032802e-02 -9.87980482e-05 9.97287595e-01 -2.72298677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:-9.16, Z:-2.73 [[ 9.40901218e-01 3.31549576e-01 6.91359224e-02 5.16859430e+01] [-3.30524290e-01 9.43436237e-01 -2.61105539e-02 -9.16149713e+00] [-7.38822775e-02 1.71635028e-03 9.97265493e-01 -2.72608014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.72, Y:-9.17, Z:-2.73 [[ 9.40804989e-01 3.32278240e-01 6.69114681e-02 5.17172481e+01] [-3.30957068e-01 9.43160134e-01 -3.02717795e-02 -9.16918172e+00] [-7.31668829e-02 6.33501792e-03 9.97299591e-01 -2.73146813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.973617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.75, Y:-9.19, Z:-2.73 [[ 9.40093956e-01 3.33212639e-01 7.20603310e-02 5.17476145e+01] [-3.33158665e-01 9.42779462e-01 -1.31221297e-02 -9.19320257e+00] [-7.23094595e-02 -1.16714888e-02 9.97313952e-01 -2.72602301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.78, Y:-9.19, Z:-2.74 [[ 9.40700749e-01 3.32706533e-01 6.62454853e-02 5.17773459e+01] [-3.31113660e-01 9.42976388e-01 -3.40481481e-02 -9.18801607e+00] [-7.37959698e-02 1.00943333e-02 9.97222272e-01 -2.73828035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.033617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.81, Y:-9.20, Z:-2.74 [[ 9.40463641e-01 3.32937323e-01 6.84169521e-02 5.18052480e+01] [-3.31808268e-01 9.42943380e-01 -2.75872152e-02 -9.20215939e+00] [-7.36981257e-02 3.24346244e-03 9.97275321e-01 -2.73872516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:-9.22, Z:-2.74 [[ 9.40930501e-01 3.31174316e-01 7.05220905e-02 5.18360827e+01] [-3.30357967e-01 9.43568564e-01 -2.32804536e-02 -9.21745664e+00] [-7.42523160e-02 -1.39224558e-03 9.97238515e-01 -2.73890700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:-9.23, Z:-2.74 [[ 9.41044235e-01 3.31042397e-01 6.96180997e-02 5.18666408e+01] [-3.30050178e-01 9.43615182e-01 -2.56372272e-02 -9.22789389e+00] [-7.41797050e-02 1.14829865e-03 9.97244229e-01 -2.74220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.90, Y:-9.25, Z:-2.74 [[ 9.41090699e-01 3.30507414e-01 7.15062695e-02 5.18969682e+01] [-3.30600268e-01 9.43708202e-01 -1.08762449e-02 -9.24971659e+00] [-7.10757326e-02 -1.34044589e-02 9.97380850e-01 -2.73592013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.153617864999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.93, Y:-9.24, Z:-2.75 [[ 9.41826499e-01 3.29968634e-01 6.39026280e-02 5.19285890e+01] [-3.27967713e-01 9.43845316e-01 -3.99148961e-02 -9.24125813e+00] [-7.34848599e-02 1.66349081e-02 9.97157588e-01 -2.75312175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617864999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.96, Y:-9.26, Z:-2.75 [[ 9.42079422e-01 3.28161001e-01 6.92583646e-02 5.19570249e+01] [-3.27167479e-01 9.44620745e-01 -2.55556108e-02 -9.26059168e+00] [-7.38092428e-02 1.41633056e-03 9.97271372e-01 -2.74997977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.213617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.99, Y:-9.28, Z:-2.75 [[ 9.41722315e-01 3.28965079e-01 7.02926621e-02 5.19884637e+01] [-3.28619580e-01 9.44313718e-01 -1.67563031e-02 -9.28122696e+00] [-7.18905636e-02 -7.31976052e-03 9.97385667e-01 -2.74708276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:52.02, Y:-9.29, Z:-2.75 [[ 9.42132302e-01 3.28577458e-01 6.65099953e-02 5.20196620e+01] [-3.27430204e-01 9.44466783e-01 -2.77841393e-02 -9.28838014e+00] [-7.19457231e-02 4.39895378e-03 9.97398848e-01 -2.75357238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.05, Y:-9.29, Z:-2.76 [[ 9.42978891e-01 3.26166195e-01 6.63809002e-02 5.20463193e+01] [-3.24689594e-01 9.45271041e-01 -3.22385753e-02 -9.29278798e+00] [-7.32630761e-02 8.84710849e-03 9.97273408e-01 -2.75854325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30361786499999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:52.08, Y:-9.32, Z:-2.76 [[ 9.42526170e-01 3.26894398e-01 6.91698747e-02 5.20783487e+01] [-3.26339331e-01 9.45051561e-01 -1.94984037e-02 -9.31695009e+00] [-7.17430170e-02 -4.19509486e-03 9.97414327e-01 -2.75501411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.11, Y:-9.32, Z:-2.76 [[ 9.43261415e-01 3.25288376e-01 6.66736525e-02 5.21064135e+01] [-3.23821971e-01 9.45575504e-01 -3.20358915e-02 -9.31615789e+00] [-7.34658757e-02 8.62782677e-03 9.97260410e-01 -2.76367454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.14, Y:-9.33, Z:-2.76 [[ 9.43266534e-01 3.24950849e-01 6.82289582e-02 5.21351540e+01] [-3.23968052e-01 9.45729238e-01 -2.53161992e-02 -9.33030979e+00] [-7.27526411e-02 1.77592079e-03 9.97348434e-01 -2.76367584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.393617864999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:52.17, Y:-9.34, Z:-2.77 [[ 9.43085265e-01 3.25504136e-01 6.80972932e-02 5.21658299e+01] [-3.24525127e-01 9.45539000e-01 -2.52871946e-02 -9.34177795e+00] [-7.26197329e-02 1.74869788e-03 9.97358169e-01 -2.76656419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:-9.35, Z:-2.77 [[ 9.42922111e-01 3.25995808e-01 6.80046046e-02 5.21959283e+01] [-3.25019205e-01 9.45369634e-01 -2.52739151e-02 -9.35337236e+00] [-7.25286785e-02 1.72853083e-03 9.97364829e-01 -2.76882067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.23, Y:-9.37, Z:-2.77 [[ 9.42687606e-01 3.26736394e-01 6.77008656e-02 5.22263077e+01] [-3.25769004e-01 9.45114013e-01 -2.51805091e-02 -9.36516364e+00] [-7.22124256e-02 1.68251021e-03 9.97387856e-01 -2.77104557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48361786499999 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:52.26, Y:-9.37, Z:-2.78 [[ 9.41973171e-01 3.29392616e-01 6.47074176e-02 5.22614956e+01] [-3.27641001e-01 9.44103106e-01 -3.63414228e-02 -9.37476754e+00] [-7.30610703e-02 1.30318422e-02 9.97242323e-01 -2.78180749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.28, Y:-9.39, Z:-2.77 [[ 9.42323366e-01 3.27030831e-01 7.12566436e-02 5.22838885e+01] [-3.26790331e-01 9.44972392e-01 -1.53381137e-02 -9.39284666e+00] [-7.23515971e-02 -8.83251919e-03 9.97340079e-01 -2.77238795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:-9.41, Z:-2.77 [[ 9.41950035e-01 3.28671427e-01 6.85946380e-02 5.23171046e+01] [-3.28521980e-01 9.44395918e-01 -1.37716847e-02 -9.40909308e+00] [-6.93068554e-02 -9.56260740e-03 9.97549556e-01 -2.77200420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.35, Y:-9.40, Z:-2.79 [[ 9.42442713e-01 3.28305963e-01 6.33792388e-02 5.23465885e+01] [-3.26565136e-01 9.44473351e-01 -3.64046749e-02 -9.40464969e+00] [-7.18118739e-02 1.36118708e-02 9.97325309e-01 -2.78500625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:-9.42, Z:-2.79 [[ 9.42449844e-01 3.27641619e-01 6.66277769e-02 5.23759822e+01] [-3.26476237e-01 9.44790725e-01 -2.79955932e-02 -9.42251934e+00] [-7.21218271e-02 4.63205657e-03 9.97385074e-01 -2.78568730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.633617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:52.40, Y:-9.43, Z:-2.78 [[ 9.42700138e-01 3.26685477e-01 6.77720361e-02 5.24046150e+01] [-3.25897937e-01 9.45132849e-01 -2.26811219e-02 -9.43461638e+00] [-7.14631706e-02 -7.05269996e-04 9.97442990e-01 -2.78445207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:52.44, Y:-9.44, Z:-2.79 [[ 9.42392827e-01 3.27481942e-01 6.82007153e-02 5.24355828e+01] [-3.26494747e-01 9.44855848e-01 -2.54677766e-02 -9.44341622e+00] [-7.27800816e-02 1.73347473e-03 9.97346507e-01 -2.78736164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69361786499999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:52.47, Y:-9.45, Z:-2.79 [[ 9.42368350e-01 3.28287477e-01 6.45695451e-02 5.24675337e+01] [-3.26930712e-01 9.44544189e-01 -3.08639843e-02 -9.45123537e+00] [-7.11210481e-02 7.97547465e-03 9.97435807e-01 -2.79227079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:-9.47, Z:-2.79 [[ 9.42118372e-01 3.27825943e-01 7.03073535e-02 5.24943311e+01] [-3.27273318e-01 9.44727069e-01 -1.95688789e-02 -9.46790671e+00] [-7.28364461e-02 -4.57352054e-03 9.97333412e-01 -2.78939153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.53, Y:-9.48, Z:-2.79 [[ 9.42049389e-01 3.28559502e-01 6.77613551e-02 5.25262874e+01] [-3.27584737e-01 9.44481780e-01 -2.53457524e-02 -9.47537070e+00] [-7.23269531e-02 1.67936489e-03 9.97379562e-01 -2.79447695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:-9.49, Z:-2.80 [[ 9.41772871e-01 3.29471569e-01 6.71739832e-02 5.25559492e+01] [-3.28514497e-01 9.44164116e-01 -2.51465151e-02 -9.48593085e+00] [-7.17083262e-02 1.61467846e-03 9.97424337e-01 -2.79727102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.59, Y:-9.50, Z:-2.80 [[ 9.42015227e-01 3.28859102e-01 6.67757708e-02 5.25869913e+01] [-3.27910271e-01 9.44377517e-01 -2.50191604e-02 -9.49658682e+00] [-7.12893153e-02 1.67196895e-03 9.97454279e-01 -2.79979720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:-9.51, Z:-2.80 [[ 9.41972980e-01 3.29090153e-01 6.62312407e-02 5.26175601e+01] [-3.28155782e-01 9.44297046e-01 -2.48369142e-02 -9.50712384e+00] [-7.07155488e-02 1.66153751e-03 9.97495138e-01 -2.80266622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.65, Y:-9.52, Z:-2.81 [[ 9.41865503e-01 3.29547360e-01 6.54821518e-02 5.26486483e+01] [-3.28633712e-01 9.44137642e-01 -2.45763293e-02 -9.51722083e+00] [-6.99232289e-02 1.62795405e-03 9.97551047e-01 -2.80507488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:-9.53, Z:-2.81 [[ 9.41746381e-01 3.29911530e-01 6.53615771e-02 5.26783975e+01] [-3.29000660e-01 9.44010469e-01 -2.45519944e-02 -9.52753765e+00] [-6.98019991e-02 1.61774991e-03 9.97559554e-01 -2.80738469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.933617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.71, Y:-9.54, Z:-2.81 [[ 9.41736373e-01 3.29900681e-01 6.55602313e-02 5.27098067e+01] [-3.28983358e-01 9.44014230e-01 -2.46390717e-02 -9.53688343e+00] [-7.00182378e-02 1.63528497e-03 9.97544371e-01 -2.80981772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.74, Y:-9.55, Z:-2.81 [[ 9.42156319e-01 3.29173031e-01 6.31394177e-02 5.27417900e+01] [-3.28014084e-01 9.44251355e-01 -2.82159390e-02 -9.54616124e+00] [-6.89074069e-02 5.87320695e-03 9.97605771e-01 -2.81374698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:-9.56, Z:-2.81 [[ 9.41786429e-01 3.29396136e-01 6.73536087e-02 5.27696079e+01] [-3.28721985e-01 9.44189263e-01 -2.11776465e-02 -9.56063133e+00] [-7.05703891e-02 -2.19579182e-03 9.97504385e-01 -2.81289211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:-9.57, Z:-2.82 [[ 9.41848741e-01 3.29453464e-01 6.61918712e-02 5.28007156e+01] [-3.28514055e-01 9.44170234e-01 -2.49215725e-02 -9.56973338e+00] [-7.07068929e-02 1.72739168e-03 9.97495640e-01 -2.81659117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.83, Y:-9.58, Z:-2.82 [[ 9.41871101e-01 3.29360095e-01 6.63382024e-02 5.28319974e+01] [-3.28414841e-01 9.44202753e-01 -2.49970673e-02 -9.58013737e+00] [-7.08697498e-02 1.75756513e-03 9.97484030e-01 -2.81880777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.86, Y:-9.59, Z:-2.82 [[ 9.41646359e-01 3.30022884e-01 6.62346681e-02 5.28617899e+01] [-3.29080767e-01 9.43971357e-01 -2.49785148e-02 -9.59070129e+00] [-7.07671110e-02 1.72437215e-03 9.97491375e-01 -2.82117835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:-9.60, Z:-2.82 [[ 9.41449424e-01 3.30552855e-01 6.63912040e-02 5.28927850e+01] [-3.29606233e-01 9.43785938e-01 -2.50566107e-02 -9.60159084e+00] [-7.09416190e-02 1.70657707e-03 9.97479009e-01 -2.82390937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:-9.61, Z:-2.83 [[ 9.40926239e-01 3.32035636e-01 6.64089481e-02 5.29229103e+01] [-3.31090704e-01 9.43265460e-01 -2.50842031e-02 -9.61137336e+00] [-7.09701163e-02 1.61499950e-03 9.97477135e-01 -2.82635820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.173617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.95, Y:-9.62, Z:-2.83 [[ 9.40551833e-01 3.33143873e-01 6.61620001e-02 5.29541184e+01] [-3.32207821e-01 9.42874751e-01 -2.50033479e-02 -9.62268836e+00] [-7.07121916e-02 1.53741080e-03 9.97495575e-01 -2.82883827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.99, Y:-9.63, Z:-2.83 [[ 9.40234521e-01 3.34052968e-01 6.60882813e-02 5.29855042e+01] [-3.33119824e-01 9.42553131e-01 -2.49955560e-02 -9.63396753e+00] [-7.06415561e-02 1.48636796e-03 9.97500657e-01 -2.83098072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.02, Y:-9.64, Z:-2.83 [[ 9.39585266e-01 3.35699200e-01 6.69744398e-02 5.30155617e+01] [-3.34772936e-01 9.41968694e-01 -2.49411406e-02 -9.64492370e+00] [-7.14605466e-02 1.01309843e-03 9.97442913e-01 -2.83271199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:-9.66, Z:-2.83 [[ 9.39056729e-01 3.37224633e-01 6.67233511e-02 5.30461854e+01] [-3.36239935e-01 9.41422478e-01 -2.58151938e-02 -9.65533813e+00] [-7.15203818e-02 1.80687627e-03 9.97437502e-01 -2.83479896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.08, Y:-9.67, Z:-2.84 [[ 9.38638896e-01 3.38309025e-01 6.71120494e-02 5.30772496e+01] [-3.37353146e-01 9.41034251e-01 -2.54439396e-02 -9.66664384e+00] [-7.17626516e-02 1.24221038e-03 9.97420964e-01 -2.83688826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.11, Y:-9.68, Z:-2.84 [[ 9.38242264e-01 3.39426579e-01 6.70153075e-02 5.31068170e+01] [-3.38474767e-01 9.40631818e-01 -2.54286299e-02 -9.67708974e+00] [-7.16678834e-02 1.17522470e-03 9.97427859e-01 -2.83934727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-9.69, Z:-2.84 [[ 9.37956701e-01 3.40322097e-01 6.64687665e-02 5.31382781e+01] [-3.39386621e-01 9.40308260e-01 -2.52407695e-02 -9.68768816e+00] [-7.10911218e-02 1.11613882e-03 9.97469201e-01 -2.84212789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.17, Y:-9.69, Z:-2.86 [[ 9.38819799e-01 3.38097277e-01 6.56324368e-02 5.31690151e+01] [-3.36060810e-01 9.40979591e-01 -4.02559361e-02 -9.68624211e+00] [-7.53692060e-02 1.57365799e-02 9.97031515e-01 -2.85836157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.20, Y:-9.72, Z:-2.84 [[ 9.37956186e-01 3.39230985e-01 7.18368423e-02 5.31959649e+01] [-3.39334520e-01 9.40599890e-01 -1.11323778e-02 -9.71766015e+00] [-7.13461735e-02 -1.39350378e-02 9.97354269e-01 -2.84179275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44361786499999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.23, Y:-9.71, Z:-2.86 [[ 9.38959974e-01 3.37477345e-01 6.68072493e-02 5.32290273e+01] [-3.35628090e-01 9.41246264e-01 -3.75400555e-02 -9.71156708e+00] [-7.55509921e-02 1.28262200e-02 9.97059444e-01 -2.86015687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.473617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.26, Y:-9.74, Z:-2.85 [[ 9.38854276e-01 3.36976188e-01 7.07085407e-02 5.32579188e+01] [-3.36845176e-01 9.41454031e-01 -1.41292178e-02 -9.73795689e+00] [-7.13300506e-02 -1.05525543e-02 9.97396946e-01 -2.84831687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.29, Y:-9.74, Z:-2.85 [[ 9.38522770e-01 3.38547136e-01 6.75340422e-02 5.32896568e+01] [-3.37570427e-01 9.40948460e-01 -2.57333156e-02 -9.74433197e+00] [-7.22579933e-02 1.35380720e-03 9.97385056e-01 -2.85339439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.32, Y:-9.76, Z:-2.86 [[ 9.38483727e-01 3.38656300e-01 6.75292807e-02 5.33208134e+01] [-3.37678974e-01 9.40909169e-01 -2.57458046e-02 -9.75630032e+00] [-7.22578983e-02 1.35880042e-03 9.97385056e-01 -2.85585496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.35, Y:-9.77, Z:-2.86 [[ 9.38896481e-01 3.37433956e-01 6.79096658e-02 5.33512905e+01] [-3.36441728e-01 9.41348058e-01 -2.58997557e-02 -9.76728943e+00] [-7.26660890e-02 1.46954420e-03 9.97355243e-01 -2.85779500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:-9.78, Z:-2.86 [[ 9.39111206e-01 3.36663957e-01 6.87569881e-02 5.33821348e+01] [-3.35613108e-01 9.41622837e-01 -2.66509643e-02 -9.77876481e+00] [-7.37155693e-02 1.95247276e-03 9.97277395e-01 -2.86223189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:-9.79, Z:-2.86 [[ 9.39454991e-01 3.36049129e-01 6.70470157e-02 5.34113839e+01] [-3.35095551e-01 9.41843516e-01 -2.53330524e-02 -9.78976687e+00] [-7.16609472e-02 1.33210579e-03 9.97428160e-01 -2.86173856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.653617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.44, Y:-9.80, Z:-2.87 [[ 9.39416623e-01 3.36507430e-01 6.52622170e-02 5.34435093e+01] [-3.35159801e-01 9.41653403e-01 -3.09318008e-02 -9.79848261e+00] [-7.18631695e-02 7.18457615e-03 9.97388624e-01 -2.86670306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.47, Y:-9.81, Z:-2.87 [[ 9.39388597e-01 3.36117926e-01 6.76299089e-02 5.34716258e+01] [-3.35213315e-01 9.41819784e-01 -2.46480733e-02 -9.81087799e+00] [-7.19798455e-02 4.83673054e-04 9.97405969e-01 -2.86717841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.713617864999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.50, Y:-9.82, Z:-2.87 [[ 9.39392016e-01 3.36247894e-01 6.69327569e-02 5.35023036e+01] [-3.35303966e-01 9.41772703e-01 -2.52076632e-02 -9.82106141e+00] [-7.15114670e-02 1.23705872e-03 9.97439011e-01 -2.86997557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:-9.83, Z:-2.87 [[ 9.39844705e-01 3.34682001e-01 6.84097100e-02 5.35323058e+01] [-3.33971616e-01 9.42328434e-01 -2.19107835e-02 -9.83267699e+00] [-7.17975597e-02 -2.25416754e-03 9.97416678e-01 -2.87271138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.56, Y:-9.84, Z:-2.88 [[ 9.40136005e-01 3.34418200e-01 6.56411383e-02 5.35627458e+01] [-3.33236218e-01 9.42411824e-01 -2.85232563e-02 -9.83921323e+00] [-7.13996809e-02 4.94173549e-03 9.97435544e-01 -2.87784702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.59, Y:-9.85, Z:-2.88 [[ 9.40512913e-01 3.33768462e-01 6.35143703e-02 5.35948240e+01] [-3.32358675e-01 9.42613033e-01 -3.19120895e-02 -9.84858599e+00] [-7.05207222e-02 8.90418021e-03 9.97470573e-01 -2.88272994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.62, Y:-9.87, Z:-2.88 [[ 9.39932481e-01 3.34054271e-01 7.02472431e-02 5.36222203e+01] [-3.33762272e-01 9.42518026e-01 -1.62023601e-02 -9.86904529e+00] [-7.16217605e-02 -8.21675501e-03 9.97398019e-01 -2.87558912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:-9.87, Z:-2.88 [[ 9.40158054e-01 3.34075092e-01 6.70571939e-02 5.36552827e+01] [-3.33088582e-01 9.42544655e-01 -2.57210167e-02 -9.87364250e+00] [-7.17971507e-02 1.84583539e-03 9.97417546e-01 -2.88192163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:-9.88, Z:-2.89 [[ 9.40947847e-01 3.31836685e-01 6.70936966e-02 5.36858777e+01] [-3.30022315e-01 9.43253618e-01 -3.68494630e-02 -9.87507845e+00] [-7.55143758e-02 1.25310058e-02 9.97065972e-01 -2.89432686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.71, Y:-9.90, Z:-2.88 [[ 9.40040396e-01 3.33581204e-01 7.10467052e-02 5.37137393e+01] [-3.33349510e-01 9.42676816e-01 -1.54442312e-02 -9.90060646e+00] [-7.21259871e-02 -9.16518317e-03 9.97353419e-01 -2.88253656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.74, Y:-9.90, Z:-2.89 [[ 9.40552075e-01 3.32733051e-01 6.81946505e-02 5.37448339e+01] [-3.31403567e-01 9.43002649e-01 -3.02932144e-02 -9.90002239e+00] [-7.43872897e-02 5.89239523e-03 9.97212019e-01 -2.89487232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.78, Y:-9.92, Z:-2.89 [[ 9.39368686e-01 3.36016067e-01 6.84081440e-02 5.37753187e+01] [-3.35327889e-01 9.41852663e-01 -2.16510538e-02 -9.91582137e+00] [-7.17054946e-02 -2.60083664e-03 9.97422457e-01 -2.88989305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:-9.92, Z:-2.89 [[ 9.39029520e-01 3.37258649e-01 6.69340241e-02 5.38072820e+01] [-3.36277005e-01 9.41410511e-01 -2.57686880e-02 -9.92415704e+00] [-7.17031067e-02 1.68918556e-03 9.97424589e-01 -2.89460327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.84, Y:-9.92, Z:-2.91 [[ 9.39818025e-01 3.35141605e-01 6.64995082e-02 5.38370683e+01] [-3.33034026e-01 9.42026628e-01 -4.09166145e-02 -9.92137547e+00] [-7.63571673e-02 1.63075729e-02 9.96947163e-01 -2.91031720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.86, Y:-9.95, Z:-2.89 [[ 9.37939501e-01 3.39409583e-01 7.12083316e-02 5.38647350e+01] [-3.39509312e-01 9.40537552e-01 -1.10698253e-02 -9.95225469e+00] [-7.07313147e-02 -1.37930652e-02 9.97400036e-01 -2.89367961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:-9.96, Z:-2.90 [[ 9.37482420e-01 3.41707868e-01 6.60488128e-02 5.38980939e+01] [-3.40759606e-01 9.39805212e-01 -2.54765333e-02 -9.95520465e+00] [-7.07785504e-02 1.37703462e-03 9.97491103e-01 -2.90117382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:-9.96, Z:-2.91 [[ 9.37890849e-01 3.40562851e-01 6.61641857e-02 5.39291857e+01] [-3.38856009e-01 9.40155015e-01 -3.58490378e-02 -9.95648056e+00] [-7.44134416e-02 1.12023526e-02 9.97164554e-01 -2.91303696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16361786499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:53.96, Y:-9.97, Z:-2.91 [[ 9.37022473e-01 3.42238927e-01 6.97237595e-02 5.39582007e+01] [-3.41489963e-01 9.39609691e-01 -2.27647403e-02 -9.97368332e+00] [-7.33041005e-02 -2.47889075e-03 9.97306555e-01 -2.91075354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.99, Y:-9.97, Z:-2.92 [[ 9.37426503e-01 3.41625017e-01 6.72599419e-02 5.39898645e+01] [-3.39878642e-01 9.39770582e-01 -3.62458589e-02 -9.97442318e+00] [-7.55914069e-02 1.11176110e-02 9.97076897e-01 -2.92211231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:-10.00, Z:-2.91 [[ 9.36188772e-01 3.44286826e-01 7.08319445e-02 5.40173267e+01] [-3.44545097e-01 9.38727337e-01 -8.92540617e-03 -1.00047329e+01] [-6.95647824e-02 -1.60489341e-02 9.97448331e-01 -2.90626993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:-9.99, Z:-2.93 [[ 9.37380803e-01 3.42816681e-01 6.15950772e-02 5.40500707e+01] [-3.40536099e-01 9.39169966e-01 -4.46647466e-02 -9.99066080e+00] [-7.31600667e-02 2.08925287e-02 9.97101352e-01 -2.92997063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:-10.03, Z:-2.91 [[ 9.36514329e-01 3.43314516e-01 7.12464408e-02 5.40764904e+01] [-3.43754448e-01 9.39037915e-01 -6.37759025e-03 -1.00281869e+01] [-6.90926285e-02 -1.85185763e-02 9.97438354e-01 -2.91010423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.11, Y:-10.03, Z:-2.92 [[ 9.36698471e-01 3.44115067e-01 6.46590747e-02 5.41100560e+01] [-3.43200907e-01 9.38926555e-01 -2.51010253e-02 -1.00292289e+01] [-6.93477633e-02 1.32103889e-03 9.97591671e-01 -2.91899650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:-10.04, Z:-2.92 [[ 9.36710221e-01 3.43777524e-01 6.62644463e-02 5.41412675e+01] [-3.42815047e-01 9.39050082e-01 -2.57446342e-02 -1.00386577e+01] [-7.10760603e-02 1.39881273e-03 9.97469918e-01 -2.92209812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:-10.05, Z:-2.93 [[ 9.37521454e-01 3.42477765e-01 6.13392539e-02 5.41722416e+01] [-3.41176414e-01 9.39491595e-01 -3.08900826e-02 -1.00465840e+01] [-6.82068799e-02 8.03260849e-03 9.97638862e-01 -2.92686967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-10.06, Z:-2.93 [[ 9.37650268e-01 3.40961718e-01 6.75061625e-02 5.42003883e+01] [-3.40457635e-01 9.40063954e-01 -1.91927407e-02 -1.00646247e+01] [-7.00040999e-02 -4.98690994e-03 9.97534238e-01 -2.92542063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:-10.07, Z:-2.93 [[ 9.37743049e-01 3.41242739e-01 6.47407680e-02 5.42316062e+01] [-3.40314531e-01 9.39973844e-01 -2.52030178e-02 -1.00729466e+01] [-6.94549754e-02 1.60173069e-03 9.97583801e-01 -2.92988796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:-10.08, Z:-2.94 [[ 9.37597012e-01 3.42524401e-01 5.99072481e-02 5.42619160e+01] [-3.41239506e-01 9.39470866e-01 -3.08235673e-02 -1.00801283e+01] [-6.68389382e-02 8.45736485e-03 9.97727934e-01 -2.93545771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.493617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:-10.09, Z:-2.94 [[ 9.37488403e-01 3.42630445e-01 6.09907464e-02 5.42904065e+01] [-3.41708076e-01 9.39465896e-01 -2.52867787e-02 -1.00940585e+01] [-6.59627465e-02 2.86503112e-03 9.97817973e-01 -2.93649498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:-10.11, Z:-2.94 [[ 9.37474357e-01 3.42139610e-01 6.38930153e-02 5.43206728e+01] [-3.41589207e-01 9.39643097e-01 -1.96891689e-02 -1.01085955e+01] [-6.67730754e-02 -3.36707344e-03 9.97762506e-01 -2.93674910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:-10.12, Z:-2.94 [[ 9.37231273e-01 3.43171055e-01 6.18964317e-02 5.43517420e+01] [-3.42330359e-01 9.39271961e-01 -2.40439090e-02 -1.01174291e+01] [-6.63887564e-02 1.34567573e-03 9.97792926e-01 -2.94113694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:-10.13, Z:-2.94 [[ 9.37323116e-01 3.42521648e-01 6.40647848e-02 5.43816428e+01] [-3.41896575e-01 9.39506903e-01 -2.08209508e-02 -1.01310269e+01] [-6.73209339e-02 -2.38757206e-03 9.97728516e-01 -2.94202040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:-10.14, Z:-2.95 [[ 9.37368883e-01 3.42624227e-01 6.28348345e-02 5.44125665e+01] [-3.41746270e-01 9.39471255e-01 -2.45611189e-02 -1.01412829e+01] [-6.74467552e-02 1.54925833e-03 9.97721672e-01 -2.94533262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-10.15, Z:-2.95 [[ 9.37973147e-01 3.42621096e-01 5.30769209e-02 5.44441323e+01] [-3.40924763e-01 9.39300120e-01 -3.85433668e-02 -1.01459726e+01] [-6.30609287e-02 1.80574064e-02 9.97846305e-01 -2.95229922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:-10.17, Z:-2.94 [[ 9.38045226e-01 3.39467029e-01 6.95218627e-02 5.44668738e+01] [-3.39670526e-01 9.40499135e-01 -9.23640263e-03 -1.01741711e+01] [-6.85207059e-02 -1.49503643e-02 9.97537668e-01 -2.94335758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:-10.18, Z:-2.95 [[ 9.38347190e-01 3.39821295e-01 6.34510681e-02 5.44998912e+01] [-3.38916943e-01 9.40488293e-01 -2.48410096e-02 -1.01777562e+01] [-6.81164908e-02 1.80484949e-03 9.97675742e-01 -2.95096534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-10.19, Z:-2.95 [[ 9.38624341e-01 3.39024510e-01 6.36138990e-02 5.45299201e+01] [-3.38112350e-01 9.40775651e-01 -2.49241450e-02 -1.01899664e+01] [-6.82963033e-02 1.88576421e-03 9.97663299e-01 -2.95366103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:-10.21, Z:-2.95 [[ 9.38846155e-01 3.37926665e-01 6.61321933e-02 5.45549262e+01] [-3.37691285e-01 9.41136664e-01 -1.50457679e-02 -1.02066648e+01] [-6.73237979e-02 -8.20660397e-03 9.97697428e-01 -2.95223881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:-10.21, Z:-2.96 [[ 9.39180190e-01 3.38040015e-01 6.05765632e-02 5.45896159e+01] [-3.36552248e-01 9.41065595e-01 -3.35876398e-02 -1.02107043e+01] [-6.83604858e-02 1.11576673e-02 9.97598291e-01 -2.96102941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:-10.23, Z:-2.96 [[ 9.39838039e-01 3.36683826e-01 5.78658935e-02 5.46188336e+01] [-3.35740046e-01 9.41606287e-01 -2.56168409e-02 -1.02268992e+01] [-6.31116651e-02 4.64778382e-03 9.97995649e-01 -2.96073812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:-10.24, Z:-2.96 [[ 9.39208827e-01 3.37816884e-01 6.13720740e-02 5.46466843e+01] [-3.36690045e-01 9.41194008e-01 -2.81718553e-02 -1.02377005e+01] [-6.72799567e-02 5.79588888e-03 9.97717302e-01 -2.96417143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:-10.25, Z:-2.97 [[ 9.38847040e-01 3.38839173e-01 6.12719327e-02 5.46747283e+01] [-3.37708800e-01 9.40826157e-01 -2.82649715e-02 -1.02499461e+01] [-6.72235166e-02 5.84441396e-03 9.97720824e-01 -2.96611414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:-10.27, Z:-2.96 [[ 9.38680719e-01 3.37837782e-01 6.88777197e-02 5.47022319e+01] [-3.37581972e-01 9.41165620e-01 -1.56744210e-02 -1.02695790e+01] [-7.01207534e-02 -8.53859967e-03 9.97501966e-01 -2.96327887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:-10.28, Z:-2.97 [[ 9.38365224e-01 3.39463370e-01 6.50793858e-02 5.47346610e+01] [-3.38500650e-01 9.40617109e-01 -2.56273989e-02 -1.02766769e+01] [-6.99143469e-02 2.01844554e-03 9.97550956e-01 -2.96904667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:-10.28, Z:-2.98 [[ 9.37744092e-01 3.42336668e-01 5.86653619e-02 5.47663948e+01] [-3.40814346e-01 9.39495418e-01 -3.45534652e-02 -1.02842036e+01] [-6.69447568e-02 1.24083109e-02 9.97679524e-01 -2.97506212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:-10.31, Z:-2.97 [[ 9.38088332e-01 3.39377671e-01 6.93763552e-02 5.47937037e+01] [-3.39086846e-01 9.40614063e-01 -1.62879194e-02 -1.03060181e+01] [-7.07841314e-02 -8.24510230e-03 9.97457581e-01 -2.97256354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:-10.32, Z:-2.97 [[ 9.37150515e-01 3.42747393e-01 6.53692314e-02 5.48238819e+01] [-3.41780108e-01 9.39425815e-01 -2.57972268e-02 -1.03152225e+01] [-7.02514757e-02 1.83398146e-03 9.97527627e-01 -2.97486436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:-10.32, Z:-2.98 [[ 9.36918450e-01 3.44194358e-01 6.09430950e-02 5.48551921e+01] [-3.42805360e-01 9.38851901e-01 -3.22737293e-02 -1.03240148e+01] [-6.83249762e-02 9.34623283e-03 9.97619339e-01 -2.97944086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.88, Y:-10.34, Z:-2.98 [[ 9.37299936e-01 3.41601923e-01 6.91155216e-02 5.48834276e+01] [-3.41101982e-01 9.39828604e-01 -1.92777553e-02 -1.03425597e+01] [-7.15420625e-02 -5.50640266e-03 9.97422384e-01 -2.97934514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-10.35, Z:-2.98 [[ 9.37078723e-01 3.42918878e-01 6.54989355e-02 5.49139600e+01] [-3.41944158e-01 9.39363144e-01 -2.59051652e-02 -1.03514966e+01] [-7.04106561e-02 1.87820077e-03 9.97516322e-01 -2.98306269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.94, Y:-10.36, Z:-2.98 [[ 9.36997987e-01 3.43330519e-01 6.44897478e-02 5.49439218e+01] [-3.42385274e-01 9.39212852e-01 -2.55253533e-02 -1.03643709e+01] [-6.93332327e-02 1.83686474e-03 9.97591865e-01 -2.98420402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-10.38, Z:-2.99 [[ 9.36789901e-01 3.44349392e-01 6.20336821e-02 5.49725210e+01] [-3.43475778e-01 9.38840010e-01 -2.45728814e-02 -1.03783321e+01] [-6.67013595e-02 1.71255998e-03 9.97771515e-01 -2.98528727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.213617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.00, Y:-10.39, Z:-2.99 [[ 9.36390311e-01 3.44742354e-01 6.57715346e-02 5.50023926e+01] [-3.43759590e-01 9.38695609e-01 -2.60748665e-02 -1.03913936e+01] [-7.07285615e-02 1.80665660e-03 9.97493963e-01 -2.98908397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-10.40, Z:-2.99 [[ 9.36378907e-01 3.45437068e-01 6.21914365e-02 5.50327923e+01] [-3.44558812e-01 9.38440421e-01 -2.46738873e-02 -1.04037475e+01] [-6.68862332e-02 1.67550015e-03 9.97759202e-01 -2.99003512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:-10.42, Z:-2.99 [[ 9.36428245e-01 3.45677586e-01 6.00761854e-02 5.50632452e+01] [-3.44836147e-01 9.38351368e-01 -2.41814113e-02 -1.04173639e+01] [-6.47315427e-02 1.92771627e-03 9.97900852e-01 -2.99297681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.09, Y:-10.43, Z:-3.00 [[ 9.36376738e-01 3.45162695e-01 6.37284814e-02 5.50930136e+01] [-3.44252158e-01 9.38541558e-01 -2.51036920e-02 -1.04281966e+01] [-6.84766862e-02 1.56784595e-03 9.97651485e-01 -2.99728496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.333617864999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.12, Y:-10.44, Z:-3.00 [[ 9.36218463e-01 3.45517888e-01 6.41278271e-02 5.51222136e+01] [-3.44581052e-01 9.38410504e-01 -2.54877210e-02 -1.04394994e+01] [-6.89846901e-02 1.76484082e-03 9.97616158e-01 -3.00071160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:-10.45, Z:-3.00 [[ 9.35352698e-01 3.48026524e-01 6.31891513e-02 5.51506697e+01] [-3.47121289e-01 9.37483363e-01 -2.51347268e-02 -1.04533335e+01] [-6.79863297e-02 1.57553496e-03 9.97685009e-01 -3.00051914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:-10.46, Z:-3.00 [[ 9.35061101e-01 3.49351485e-01 6.01188668e-02 5.51796009e+01] [-3.48075474e-01 9.36958113e-01 -3.08700460e-02 -1.04628861e+01] [-6.71133564e-02 7.93947616e-03 9.97713768e-01 -3.00494199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:-10.48, Z:-3.01 [[ 9.35017849e-01 3.49057055e-01 6.24563346e-02 5.52094868e+01] [-3.48184022e-01 9.37100490e-01 -2.47094652e-02 -1.04786436e+01] [-6.71528750e-02 1.35749326e-03 9.97741775e-01 -3.00507870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.24, Y:-10.49, Z:-3.01 [[ 9.35672637e-01 3.46109554e-01 6.87378576e-02 5.52375454e+01] [-3.45643677e-01 9.38174679e-01 -1.89399170e-02 -1.04921813e+01] [-7.10434037e-02 -6.03724380e-03 9.97454955e-01 -3.00770368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.27, Y:-10.50, Z:-3.01 [[ 9.35516163e-01 3.47103203e-01 6.57941963e-02 5.52694961e+01] [-3.46045533e-01 9.37823090e-01 -2.72092216e-02 -1.05009348e+01] [-7.11477244e-02 2.68687884e-03 9.97462171e-01 -3.01334299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:-10.51, Z:-3.02 [[ 9.35522811e-01 3.47111747e-01 6.56544362e-02 5.52982134e+01] [-3.46119363e-01 9.37821900e-01 -2.62958478e-02 -1.05138297e+01] [-7.06997657e-02 1.87609386e-03 9.97495876e-01 -3.01633772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:55.33, Y:-10.53, Z:-3.01 [[ 9.34726612e-01 3.49605926e-01 6.37326985e-02 5.53288809e+01] [-3.48721494e-01 9.36896284e-01 -2.48731361e-02 -1.05301790e+01] [-6.84067242e-02 1.02462036e-03 9.97656990e-01 -3.01487935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.36, Y:-10.54, Z:-3.02 [[ 9.35354185e-01 3.47844055e-01 6.41643416e-02 5.53601314e+01] [-3.46901495e-01 9.37550807e-01 -2.56483483e-02 -1.05410822e+01] [-6.90789557e-02 1.73158387e-03 9.97609693e-01 -3.01979204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:-10.56, Z:-3.02 [[ 9.34644498e-01 3.49831329e-01 6.37000993e-02 5.53883221e+01] [-3.48905510e-01 9.36811348e-01 -2.54841652e-02 -1.05561592e+01] [-6.85901353e-02 1.59331914e-03 9.97643651e-01 -3.01956804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.42, Y:-10.57, Z:-3.02 [[ 9.35092269e-01 3.48318508e-01 6.53962167e-02 5.54171420e+01] [-3.47443355e-01 9.37376174e-01 -2.46784150e-02 -1.05667383e+01] [-6.98968041e-02 3.55114170e-04 9.97554164e-01 -3.02406169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:-10.58, Z:-3.03 [[ 9.34592655e-01 3.50437759e-01 6.10732878e-02 5.54471209e+01] [-3.49471627e-01 9.36580773e-01 -2.61923285e-02 -1.05787981e+01] [-6.63788480e-02 3.13577657e-03 9.97789565e-01 -3.02511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.48, Y:-10.59, Z:-3.03 [[ 9.33275162e-01 3.53337179e-01 6.44229019e-02 5.54750408e+01] [-3.52590244e-01 9.35495200e-01 -2.29967631e-02 -1.05936017e+01] [-6.83929269e-02 -1.25257895e-03 9.97657676e-01 -3.02683597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:-10.61, Z:-3.03 [[ 9.32808972e-01 3.55290634e-01 6.02991545e-02 5.55063929e+01] [-3.54362927e-01 9.34751990e-01 -2.57998551e-02 -1.06058268e+01] [-6.55312016e-02 2.69855148e-03 9.97846872e-01 -3.02777230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:-10.62, Z:-3.03 [[ 9.31965765e-01 3.57149045e-01 6.23247405e-02 5.55359722e+01] [-3.56274519e-01 9.34046764e-01 -2.50021975e-02 -1.06193224e+01] [-6.71437332e-02 1.09647514e-03 9.97742711e-01 -3.03075991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:-10.63, Z:-3.03 [[ 9.31051555e-01 3.59746416e-01 6.10370276e-02 5.55656485e+01] [-3.58911967e-01 9.33049672e-01 -2.45052929e-02 -1.06326882e+01] [-6.57662699e-02 9.08771383e-04 9.97834642e-01 -3.03208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-10.65, Z:-3.03 [[ 9.30133580e-01 3.61755816e-01 6.31209402e-02 5.55926011e+01] [-3.61768565e-01 9.32195407e-01 -1.16287825e-02 -1.06527067e+01] [-6.30478303e-02 -1.20188508e-02 9.97938134e-01 -3.02938035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.62, Y:-10.66, Z:-3.03 [[ 9.29284057e-01 3.64427596e-01 6.01969160e-02 5.56232235e+01] [-3.64020112e-01 9.31217255e-01 -1.79939295e-02 -1.06633770e+01] [-6.26138914e-02 -5.19141630e-03 9.98024323e-01 -3.03278139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87361786499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.66, Y:-10.66, Z:-3.05 [[ 9.29363702e-01 3.65633278e-01 5.09452226e-02 5.56561111e+01] [-3.63858272e-01 9.30554697e-01 -4.09281494e-02 -1.06622690e+01] [-6.23720096e-02 1.95002958e-02 9.97862451e-01 -3.04503157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617864999994 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:55.68, Y:-10.69, Z:-3.04 [[ 9.29111823e-01 3.65189918e-01 5.82026184e-02 5.56811622e+01] [-3.64439003e-01 9.30932881e-01 -2.34133149e-02 -1.06864235e+01] [-6.27330378e-02 5.42283426e-04 9.98030196e-01 -3.04121963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.933617864999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:55.71, Y:-10.70, Z:-3.04 [[ 9.29369597e-01 3.64628726e-01 5.76024638e-02 5.57107537e+01] [-3.63891094e-01 9.31152804e-01 -2.31889707e-02 -1.07007227e+01] [-6.20920606e-02 5.90100818e-04 9.98070252e-01 -3.04373471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.74, Y:-10.71, Z:-3.05 [[ 9.29561731e-01 3.64093697e-01 5.78858208e-02 5.57399127e+01] [-3.63346493e-01 9.31362100e-01 -2.33230743e-02 -1.07146063e+01] [-6.24044439e-02 6.47627417e-04 9.98050733e-01 -3.04598967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.993617865 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:55.77, Y:-10.73, Z:-3.05 [[ 9.28914213e-01 3.65220587e-01 6.10926124e-02 5.57681273e+01] [-3.64389278e-01 9.30920799e-01 -2.46357264e-02 -1.07293872e+01] [-6.58698581e-02 6.22983422e-04 9.97828028e-01 -3.05094382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02361786499999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:55.80, Y:-10.74, Z:-3.05 [[ 9.30052611e-01 3.62919453e-01 5.73725581e-02 5.57968161e+01] [-3.62180917e-01 9.31820208e-01 -2.31534487e-02 -1.07444024e+01] [-6.18637460e-02 7.54679691e-04 9.98084319e-01 -3.04930960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.83, Y:-10.76, Z:-3.05 [[ 9.30405309e-01 3.61849400e-01 5.84035317e-02 5.58267334e+01] [-3.61081284e-01 9.32236176e-01 -2.35800411e-02 -1.07575748e+01] [-6.29783088e-02 8.50573289e-04 9.98014534e-01 -3.05236016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617864999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:55.86, Y:-10.77, Z:-3.06 [[ 9.29587579e-01 3.63461779e-01 6.13389692e-02 5.58551940e+01] [-3.62616452e-01 9.31608768e-01 -2.47873510e-02 -1.07728909e+01] [-6.61531762e-02 7.99494279e-04 9.97809159e-01 -3.05746459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.113617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:55.88, Y:-10.79, Z:-3.06 [[ 9.29657970e-01 3.63267750e-01 6.14215036e-02 5.58849392e+01] [-3.62418431e-01 9.31684415e-01 -2.48401243e-02 -1.07872328e+01] [-6.62490737e-02 8.32534564e-04 9.97802770e-01 -3.05973893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:-10.80, Z:-3.06 [[ 9.30033215e-01 3.62327505e-01 6.12943569e-02 5.59126646e+01] [-3.61478379e-01 9.32050396e-01 -2.48080854e-02 -1.08035958e+01] [-6.61180813e-02 9.15758673e-04 9.97811385e-01 -3.06137683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.173617865 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:55.94, Y:-10.82, Z:-3.06 [[ 9.29645426e-01 3.63126923e-01 6.24357249e-02 5.59429547e+01] [-3.62246382e-01 9.31739256e-01 -2.52886892e-02 -1.08160035e+01] [-6.73568197e-02 8.92398792e-04 9.97728551e-01 -3.06347538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.98, Y:-10.83, Z:-3.07 [[ 9.29461376e-01 3.64167099e-01 5.90243626e-02 5.59755348e+01] [-3.62947291e-01 9.31307201e-01 -3.05967387e-02 -1.08265657e+01] [-6.61121395e-02 7.01575435e-03 9.97787535e-01 -3.06860225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.00, Y:-10.85, Z:-3.07 [[ 9.28693923e-01 3.65131188e-01 6.48599498e-02 5.60018402e+01] [-3.64627181e-01 9.30941571e-01 -1.98698134e-02 -1.08458294e+01] [-6.76359122e-02 -5.19672567e-03 9.97696536e-01 -3.06575215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.03, Y:-10.86, Z:-3.07 [[ 9.28477897e-01 3.66113953e-01 6.23648018e-02 5.60328117e+01] [-3.65239541e-01 9.30569754e-01 -2.52984153e-02 -1.08563229e+01] [-6.72969011e-02 7.10927856e-04 9.97732741e-01 -3.07010383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.06, Y:-10.87, Z:-3.07 [[ 9.28192323e-01 3.67033427e-01 6.12002825e-02 5.60629734e+01] [-3.66089028e-01 9.30205392e-01 -2.63960771e-02 -1.08687658e+01] [-6.66170754e-02 2.09588415e-03 9.97776414e-01 -3.07274773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:56.09, Y:-10.88, Z:-3.07 [[ 9.27958138e-01 3.67326945e-01 6.29651459e-02 5.60913294e+01] [-3.66541263e-01 9.30091554e-01 -2.40250510e-02 -1.08829953e+01] [-6.73883990e-02 -7.85082520e-04 9.97726509e-01 -3.07361542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.12, Y:-10.89, Z:-3.08 [[ 9.27817875e-01 3.67700102e-01 6.28540059e-02 5.61213564e+01] [-3.66811485e-01 9.29944194e-01 -2.55563988e-02 -1.08949510e+01] [-6.78478083e-02 6.56112426e-04 9.97695467e-01 -3.07625228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38361786499999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:56.15, Y:-10.91, Z:-3.08 [[ 9.27771093e-01 3.67741688e-01 6.32996916e-02 5.61518277e+01] [-3.66839107e-01 9.29927735e-01 -2.57580406e-02 -1.09070114e+01] [-6.83364442e-02 6.76763192e-04 9.97662103e-01 -3.07868777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41361786499999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:56.18, Y:-10.92, Z:-3.08 [[ 9.27769501e-01 3.67757480e-01 6.32312404e-02 5.61827791e+01] [-3.66855518e-01 9.29921478e-01 -2.57502284e-02 -1.09182432e+01] [-6.82699276e-02 6.93547094e-04 9.97666646e-01 -3.08125612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.21, Y:-10.93, Z:-3.08 [[ 9.27513827e-01 3.68406674e-01 6.32030347e-02 5.62127407e+01] [-3.67505622e-01 9.29664499e-01 -2.57592150e-02 -1.09302347e+01] [-6.82474843e-02 6.64557539e-04 9.97668201e-01 -3.08377032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-10.94, Z:-3.09 [[ 9.27238495e-01 3.69091065e-01 6.32499676e-02 5.62436426e+01] [-3.68188964e-01 9.29393020e-01 -2.57973083e-02 -1.09426293e+01] [-6.83056344e-02 6.32317287e-04 9.97664242e-01 -3.08611983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.27, Y:-10.96, Z:-3.09 [[ 9.26629302e-01 3.70566810e-01 6.35482173e-02 5.62738099e+01] [-3.69658237e-01 9.28805654e-01 -2.59392580e-02 -1.09554657e+01] [-6.86361716e-02 5.44954499e-04 9.97641608e-01 -3.08842628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.533617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.30, Y:-10.97, Z:-3.09 [[ 9.25619167e-01 3.73212353e-01 6.27829392e-02 5.63029324e+01] [-3.72330267e-01 9.27745874e-01 -2.56469166e-02 -1.09671707e+01] [-6.78183589e-02 3.63289065e-04 9.97697619e-01 -3.09023980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.33, Y:-10.98, Z:-3.09 [[ 9.25134255e-01 3.74423027e-01 6.27216646e-02 5.63336439e+01] [-3.73544170e-01 9.27257953e-01 -2.56406190e-02 -1.09788928e+01] [-6.77596005e-02 2.91702850e-04 9.97701634e-01 -3.09255325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:-10.99, Z:-3.10 [[ 9.24764400e-01 3.75251097e-01 6.32251427e-02 5.63645299e+01] [-3.74358601e-01 9.26923163e-01 -2.58667182e-02 -1.09899873e+01] [-6.83113637e-02 2.51744154e-04 9.97664019e-01 -3.09551934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.40, Y:-11.00, Z:-3.10 [[ 9.24218671e-01 3.76413888e-01 6.42840011e-02 5.63956570e+01] [-3.75492541e-01 9.26451590e-01 -2.63211409e-02 -1.10011606e+01] [-6.94636580e-02 1.88327004e-04 9.97584465e-01 -3.09804303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.653617864999994 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:56.43, Y:-11.01, Z:-3.11 [[ 9.23652830e-01 3.78300756e-01 6.12697912e-02 5.64292089e+01] [-3.76191758e-01 9.25526575e-01 -4.33626491e-02 -1.10058961e+01] [-7.31109429e-02 1.70028431e-02 9.97178867e-01 -3.11226761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617864999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:56.44, Y:-11.05, Z:-3.09 [[ 9.23898833e-01 3.73495181e-01 8.31402227e-02 5.64384107e+01] [-3.75969022e-01 9.26497216e-01 1.58178027e-02 -1.10456176e+01] [-7.11213118e-02 -4.58721977e-02 9.96412315e-01 -3.08571557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.48, Y:-11.04, Z:-3.11 [[ 9.23817614e-01 3.77245358e-01 6.51686716e-02 5.64765172e+01] [-3.75976524e-01 9.26103195e-01 -3.12173883e-02 -1.10352425e+01] [-7.21295298e-02 4.33728259e-03 9.97385843e-01 -3.10818122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:56.52, Y:-11.04, Z:-3.13 [[ 9.23145097e-01 3.80054761e-01 5.79785162e-02 5.65163073e+01] [-3.76751927e-01 9.24341077e-01 -6.04281355e-02 -1.10365408e+01] [-7.65579247e-02 3.39404194e-02 9.96487297e-01 -3.12829379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.54, Y:-11.07, Z:-3.11 [[ 9.24298073e-01 3.75168893e-01 7.01525019e-02 5.65383417e+01] [-3.74690553e-01 9.26926387e-01 -2.03583586e-02 -1.10676321e+01] [-7.26640280e-02 -7.46828811e-03 9.97328513e-01 -3.10971493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.57, Y:-11.07, Z:-3.12 [[ 9.25110212e-01 3.73650463e-01 6.75013057e-02 5.65696248e+01] [-3.72613029e-01 9.27569392e-01 -2.78307907e-02 -1.10747590e+01] [-7.30111329e-02 5.94682741e-04 9.97330948e-01 -3.11576553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.833617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.60, Y:-11.09, Z:-3.12 [[ 9.25402650e-01 3.72917542e-01 6.75458455e-02 5.65998951e+01] [-3.71875328e-01 9.27864244e-01 -2.78690619e-02 -1.10876424e+01] [-7.30662369e-02 6.71470230e-04 9.97326864e-01 -3.11856675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.63, Y:-11.10, Z:-3.12 [[ 9.25899863e-01 3.71800332e-01 6.68876424e-02 5.66301603e+01] [-3.70773893e-01 9.28312403e-01 -2.76188965e-02 -1.11007903e+01] [-7.23613429e-02 7.72140916e-04 9.97378183e-01 -3.12063999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.65, Y:-11.13, Z:-3.10 [[ 9.27840048e-01 3.65636040e-01 7.36419191e-02 5.66501869e+01] [-3.67151015e-01 9.30129298e-01 7.72144923e-03 -1.11264268e+01] [-6.56732664e-02 -3.42019752e-02 9.97254856e-01 -3.09910388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.69, Y:-11.11, Z:-3.14 [[ 9.27579767e-01 3.69749613e-01 5.36749509e-02 5.66930049e+01] [-3.66605142e-01 9.28427995e-01 -6.01841150e-02 -1.11086017e+01] [-7.20863803e-02 3.61480544e-02 9.96743132e-01 -3.13797676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.72, Y:-11.14, Z:-3.13 [[ 9.27522404e-01 3.67654411e-01 6.73232868e-02 5.67174457e+01] [-3.66599378e-01 9.29961771e-01 -2.78567853e-02 -1.11372226e+01] [-7.28497530e-02 1.15711741e-03 9.97342255e-01 -3.12791477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.75, Y:-11.15, Z:-3.13 [[ 9.27611233e-01 3.67424359e-01 6.73553284e-02 5.67474484e+01] [-3.66366142e-01 9.30052638e-01 -2.78915710e-02 -1.11481732e+01] [-7.28920434e-02 1.19582275e-03 9.97339120e-01 -3.13054035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.78, Y:-11.16, Z:-3.13 [[ 9.27639110e-01 3.67449869e-01 6.68302038e-02 5.67785293e+01] [-3.66406750e-01 9.30042551e-01 -2.76937913e-02 -1.11582706e+01] [-7.23310133e-02 1.20280611e-03 9.97379957e-01 -3.13363487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:56.81, Y:-11.17, Z:-3.14 [[ 9.27542894e-01 3.67731444e-01 6.66165545e-02 5.68081697e+01] [-3.66694182e-01 9.29931262e-01 -2.76265096e-02 -1.11695877e+01] [-7.21079529e-02 1.19686973e-03 9.97396115e-01 -3.13651154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.073617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.84, Y:-11.18, Z:-3.14 [[ 9.27518607e-01 3.67900873e-01 6.60165177e-02 5.68384025e+01] [-3.66881277e-01 9.29864253e-01 -2.73970774e-02 -1.11824148e+01] [-7.14658087e-02 1.19107477e-03 9.97442339e-01 -3.13877834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.87, Y:-11.20, Z:-3.14 [[ 9.27701587e-01 3.67641257e-01 6.48819760e-02 5.68683243e+01] [-3.66654417e-01 9.29966905e-01 -2.69461283e-02 -1.11970089e+01] [-7.02445989e-02 1.20870292e-03 9.97529065e-01 -3.14058075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.90, Y:-11.21, Z:-3.14 [[ 9.27897767e-01 3.67276701e-01 6.41370350e-02 5.68982647e+01] [-3.66310169e-01 9.30110900e-01 -2.66566060e-02 -1.12095868e+01] [-6.94449056e-02 1.24055707e-03 9.97585017e-01 -3.14317157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.93, Y:-11.22, Z:-3.15 [[ 9.27929914e-01 3.67320297e-01 6.34182452e-02 5.69283064e+01] [-3.66374037e-01 9.30093681e-01 -2.63781894e-02 -1.12215515e+01] [-6.86741535e-02 1.24231254e-03 9.97638370e-01 -3.14618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.96, Y:-11.23, Z:-3.15 [[ 9.27816620e-01 3.67676560e-01 6.30100475e-02 5.69581860e+01] [-3.66741881e-01 9.29952924e-01 -2.62288323e-02 -1.12331951e+01] [-6.82401047e-02 1.22712323e-03 9.97668172e-01 -3.14949728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.99, Y:-11.24, Z:-3.15 [[ 9.26800149e-01 3.70621248e-01 6.06743264e-02 5.69884213e+01] [-3.69448943e-01 9.28768826e-01 -2.99323549e-02 -1.12417290e+01] [-6.74459897e-02 5.32524523e-03 9.97708715e-01 -3.15398007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:-11.26, Z:-3.15 [[ 9.26201018e-01 3.71254341e-01 6.57410738e-02 5.70174985e+01] [-3.70584920e-01 9.28524717e-01 -2.25536697e-02 -1.12587196e+01] [-6.94153598e-02 -3.47341871e-03 9.97581798e-01 -3.15318555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.04, Y:-11.28, Z:-3.14 [[ 9.27053393e-01 3.68061111e-01 7.14354585e-02 5.70390483e+01] [-3.69344401e-01 9.29278087e-01 5.19146879e-03 -1.12786352e+01] [-6.44726285e-02 -3.11970554e-02 9.97431714e-01 -3.13665667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.08, Y:-11.27, Z:-3.17 [[ 9.24424148e-01 3.77756528e-01 5.23450050e-02 5.70825574e+01] [-3.74943683e-01 9.25338172e-01 -5.62716746e-02 -1.12658950e+01] [-6.96938237e-02 3.23924659e-02 9.97042376e-01 -3.17068451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.11, Y:-11.29, Z:-3.16 [[ 9.24414655e-01 3.75875265e-01 6.46168058e-02 5.71075557e+01] [-3.74905410e-01 9.26669981e-01 -2.69940624e-02 -1.12948301e+01] [-7.00248546e-02 7.28516818e-04 9.97544981e-01 -3.16181519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37361786499999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:57.14, Y:-11.31, Z:-3.16 [[ 9.22935876e-01 3.79501368e-01 6.45606764e-02 5.71374010e+01] [-3.78541492e-01 9.25191061e-01 -2.69784949e-02 -1.13074348e+01] [-6.99693365e-02 4.60526101e-04 9.97549036e-01 -3.16417429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-11.32, Z:-3.17 [[ 9.22321478e-01 3.81046471e-01 6.42392219e-02 5.71681471e+01] [-3.80098462e-01 9.24555816e-01 -2.68645092e-02 -1.13198571e+01] [-6.96293726e-02 3.60484359e-04 9.97572865e-01 -3.16676009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.433617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.20, Y:-11.33, Z:-3.17 [[ 9.21744046e-01 3.82412033e-01 6.44123489e-02 5.71975308e+01] [-3.81460783e-01 9.23991862e-01 -2.69575750e-02 -1.13320948e+01] [-6.98253873e-02 2.77199239e-04 9.97559190e-01 -3.16932199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.23, Y:-11.35, Z:-3.17 [[ 9.21259961e-01 3.83508228e-01 6.48191610e-02 5.72271222e+01] [-3.82546262e-01 9.23537435e-01 -2.71470825e-02 -1.13452998e+01] [-7.02740512e-02 2.13192405e-04 9.97527700e-01 -3.17214434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.493617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.25, Y:-11.37, Z:-3.16 [[ 9.22841617e-01 3.78481000e-01 7.15226086e-02 5.72478619e+01] [-3.79496138e-01 9.25193089e-01 6.54677986e-04 -1.13663374e+01] [-6.59244401e-02 -2.77467178e-02 9.97438764e-01 -3.15692200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.28, Y:-11.37, Z:-3.17 [[ 9.22979975e-01 3.79818731e-01 6.20136835e-02 5.72812838e+01] [-3.79166266e-01 9.25056663e-01 -2.24301713e-02 -1.13675742e+01] [-6.58855704e-02 -2.81089780e-03 9.97823226e-01 -3.16836069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:57.31, Y:-11.38, Z:-3.17 [[ 9.23642880e-01 3.78394529e-01 6.08392227e-02 5.73111927e+01] [-3.77445260e-01 9.25642594e-01 -2.68488949e-02 -1.13806494e+01] [-6.64748509e-02 1.83531439e-03 9.97786413e-01 -3.17310466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:57.34, Y:-11.39, Z:-3.18 [[ 9.24176969e-01 3.77098046e-01 6.07782380e-02 5.73398872e+01] [-3.75856745e-01 9.26154309e-01 -3.11432696e-02 -1.13907625e+01] [-6.80340931e-02 5.93798182e-03 9.97665326e-01 -3.17966075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.613617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.37, Y:-11.40, Z:-3.19 [[ 9.24241727e-01 3.77204635e-01 5.91091627e-02 5.73697689e+01] [-3.75556836e-01 9.26048632e-01 -3.72960383e-02 -1.13990237e+01] [-6.88061978e-02 1.22717047e-02 9.97554566e-01 -3.18736138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:57.39, Y:-11.42, Z:-3.18 [[ 9.23656354e-01 3.77122810e-01 6.80979150e-02 5.73941694e+01] [-3.76933597e-01 9.26100330e-01 -1.61010256e-02 -1.14230595e+01] [-6.91375655e-02 -1.07965774e-02 9.97548711e-01 -3.17991862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.673617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.42, Y:-11.43, Z:-3.19 [[ 9.23486842e-01 3.77949480e-01 6.57741838e-02 5.74239489e+01] [-3.77252571e-01 9.25819990e-01 -2.31914598e-02 -1.14312729e+01] [-6.96602543e-02 -3.39647194e-03 9.97564992e-01 -3.18585451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:-11.44, Z:-3.19 [[ 9.23414762e-01 3.78127100e-01 6.57652979e-02 5.74537706e+01] [-3.77224600e-01 9.25753434e-01 -2.61185839e-02 -1.14422379e+01] [-7.07585947e-02 -6.90002264e-04 9.97493231e-01 -3.19020036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:-11.45, Z:-3.21 [[ 9.22033898e-01 3.82656527e-01 5.85446281e-02 5.74915671e+01] [-3.80116621e-01 9.23580244e-01 -5.01087618e-02 -1.14499576e+01] [-7.32451066e-02 2.39481907e-02 9.97026398e-01 -3.20590152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.51, Y:-11.48, Z:-3.19 [[ 9.24554156e-01 3.74324672e-01 7.12786960e-02 5.75104528e+01] [-3.74516515e-01 9.27153080e-01 -1.11600153e-02 -1.14774328e+01] [-7.02637316e-02 -1.63770103e-02 9.97394005e-01 -3.19031338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.793617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.55, Y:-11.48, Z:-3.21 [[ 9.23324749e-01 3.79327500e-01 5.98502744e-02 5.75491476e+01] [-3.77212024e-01 9.25089599e-01 -4.38214882e-02 -1.14796005e+01] [-7.19895619e-02 1.78852215e-02 9.97245016e-01 -3.20944137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:-11.50, Z:-3.20 [[ 9.25426267e-01 3.72284114e-01 7.06453289e-02 5.75702939e+01] [-3.72500165e-01 9.27971770e-01 -1.05840147e-02 -1.15033807e+01] [-6.94971315e-02 -1.65206714e-02 9.97445345e-01 -3.19582286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.61, Y:-11.50, Z:-3.22 [[ 9.24274332e-01 3.76972323e-01 6.00735042e-02 5.76081925e+01] [-3.74801051e-01 9.26037943e-01 -4.44735814e-02 -1.15025434e+01] [-7.23956536e-02 1.85901772e-02 9.97202725e-01 -3.21577952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.63, Y:-11.53, Z:-3.20 [[ 9.26954585e-01 3.68073757e-01 7.26423245e-02 5.76284509e+01] [-3.68448285e-01 9.29607865e-01 -8.66481922e-03 -1.15258698e+01] [-7.07181688e-02 -1.87330460e-02 9.97320417e-01 -3.20120202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.66, Y:-11.53, Z:-3.21 [[ 9.27130955e-01 3.69009503e-01 6.52700540e-02 5.76615113e+01] [-3.68020431e-01 9.29425052e-01 -2.70191669e-02 -1.15286941e+01] [-7.06339527e-02 1.02959259e-03 9.97501772e-01 -3.21107611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.69, Y:-11.54, Z:-3.21 [[ 9.27577534e-01 3.68382689e-01 6.24028308e-02 5.76902552e+01] [-3.67512403e-01 9.29674081e-01 -2.53127796e-02 -1.15415645e+01] [-6.73390842e-02 5.45751418e-04 9.97729998e-01 -3.21197717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-11.55, Z:-3.23 [[ 9.27005412e-01 3.70486145e-01 5.83179397e-02 5.77264151e+01] [-3.68128720e-01 9.28566360e-01 -4.73894577e-02 -1.15492664e+01] [-7.17092145e-02 2.24617753e-02 9.97172632e-01 -3.22814441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.75, Y:-11.57, Z:-3.22 [[ 9.27653384e-01 3.67514060e-01 6.62768054e-02 5.77531808e+01] [-3.66429441e-01 9.30015922e-01 -2.82816210e-02 -1.15721375e+01] [-7.20323776e-02 1.94976866e-03 9.97400389e-01 -3.22269736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:-11.58, Z:-3.23 [[ 9.27753646e-01 3.67231339e-01 6.64403158e-02 5.77838448e+01] [-3.66139080e-01 9.30127495e-01 -2.83728151e-02 -1.15841312e+01] [-7.22173514e-02 1.99658656e-03 9.97386920e-01 -3.22544977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.81, Y:-11.60, Z:-3.23 [[ 9.27861271e-01 3.66983036e-01 6.63092155e-02 5.78149717e+01] [-3.65892918e-01 9.30225415e-01 -2.83381353e-02 -1.15953670e+01] [-7.20821325e-02 2.03178593e-03 9.97396630e-01 -3.22812982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:-11.61, Z:-3.23 [[ 9.27897535e-01 3.66787439e-01 6.68815374e-02 5.78449367e+01] [-3.65676242e-01 9.30302437e-01 -2.86052781e-02 -1.16055112e+01] [-7.27121139e-02 2.08577776e-03 9.97350790e-01 -3.23027687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.88, Y:-11.62, Z:-3.23 [[ 9.27946051e-01 3.66621728e-01 6.71165817e-02 5.78753627e+01] [-3.65500747e-01 9.30367664e-01 -2.87265230e-02 -1.16177299e+01] [-7.29748648e-02 2.12550285e-03 9.97331515e-01 -3.23214435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.153617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.91, Y:-11.63, Z:-3.23 [[ 9.28017811e-01 3.66409551e-01 6.72828562e-02 5.79057226e+01] [-3.65280857e-01 9.30451150e-01 -2.88193268e-02 -1.16300531e+01] [-7.31630875e-02 2.16770924e-03 9.97317634e-01 -3.23431121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:57.94, Y:-11.64, Z:-3.24 [[ 9.28177306e-01 3.65964636e-01 6.75038790e-02 5.79364756e+01] [-3.64825675e-01 9.30626084e-01 -2.89364612e-02 -1.16421185e+01] [-7.34105921e-02 2.23101833e-03 9.97299307e-01 -3.23679806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.213617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.97, Y:-11.65, Z:-3.24 [[ 9.28522103e-01 3.65016201e-01 6.78960763e-02 5.79668682e+01] [-3.63859706e-01 9.30998224e-01 -2.91276780e-02 -1.16532830e+01] [-7.38432008e-02 2.34104648e-03 9.97267116e-01 -3.23819967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:-11.67, Z:-3.24 [[ 9.28456631e-01 3.65058600e-01 6.85602177e-02 5.79971835e+01] [-3.63878429e-01 9.30981517e-01 -2.94262344e-02 -1.16653266e+01] [-7.45705955e-02 2.37339809e-03 9.97212913e-01 -3.24046507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:-11.68, Z:-3.24 [[ 9.28439675e-01 3.64919823e-01 6.95218885e-02 5.80277514e+01] [-3.63704131e-01 9.31035752e-01 -2.98619126e-02 -1.16770804e+01] [-7.56245676e-02 2.43958634e-03 9.97133378e-01 -3.24281390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-11.69, Z:-3.24 [[ 9.28162164e-01 3.65502306e-01 7.01645293e-02 5.80580377e+01] [-3.64263904e-01 9.30807247e-01 -3.01608403e-02 -1.16878956e+01] [-7.63335091e-02 2.43574539e-03 9.97079366e-01 -3.24448519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:-11.70, Z:-3.25 [[ 9.27934895e-01 3.66072449e-01 7.01982327e-02 5.80881870e+01] [-3.64832872e-01 9.30583234e-01 -3.01963508e-02 -1.16997113e+01] [-7.63793505e-02 2.40962478e-03 9.97075919e-01 -3.24687312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:-11.71, Z:-3.25 [[ 9.27591886e-01 3.67009881e-01 6.98358023e-02 5.81183071e+01] [-3.65784060e-01 9.30214097e-01 -3.00625070e-02 -1.17117015e+01] [-7.59954850e-02 2.34091424e-03 9.97105414e-01 -3.24936683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:-11.72, Z:-3.25 [[ 9.27008577e-01 3.68631842e-01 6.90337762e-02 5.81480542e+01] [-3.67436833e-01 9.29572864e-01 -2.97399608e-02 -1.17219278e+01] [-7.51350216e-02 2.20364666e-03 9.97170934e-01 -3.25207932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.18, Y:-11.72, Z:-3.26 [[ 9.28457601e-01 3.64789158e-01 6.99667937e-02 5.81756865e+01] [-3.62934959e-01 9.31037111e-01 -3.80540876e-02 -1.17192818e+01] [-7.90234001e-02 9.93821145e-03 9.96823221e-01 -3.26331413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.21, Y:-11.75, Z:-3.25 [[ 9.26324050e-01 3.69777633e-01 7.20295534e-02 5.82058346e+01] [-3.69231479e-01 9.29094556e-01 -2.12466538e-02 -1.17491492e+01] [-7.47788033e-02 -6.91429208e-03 9.97176175e-01 -3.25399276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:-11.75, Z:-3.26 [[ 9.25956653e-01 3.71398619e-01 6.83179525e-02 5.82375107e+01] [-3.70230394e-01 9.28471303e-01 -2.95041501e-02 -1.17548340e+01] [-7.43890589e-02 2.02618158e-03 9.97227237e-01 -3.25904545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:-11.77, Z:-3.26 [[ 9.25836347e-01 3.71788617e-01 6.78253805e-02 5.82668481e+01] [-3.70636655e-01 9.28315260e-01 -2.93129252e-02 -1.17663645e+01] [-7.38615477e-02 2.00039948e-03 9.97266499e-01 -3.26155675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-11.78, Z:-3.26 [[ 9.26313819e-01 3.69948436e-01 7.12801697e-02 5.82924478e+01] [-3.69973972e-01 9.28946460e-01 -1.33317135e-02 -1.17821955e+01] [-7.11475078e-02 -1.40224571e-02 9.97367236e-01 -3.25560049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:-11.78, Z:-3.27 [[ 9.25740787e-01 3.73256036e-01 6.06953647e-02 5.83291059e+01] [-3.71153594e-01 9.27562724e-01 -4.32712596e-02 -1.17816312e+01] [-7.24500166e-02 1.75306671e-02 9.97217966e-01 -3.27175229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:-11.80, Z:-3.27 [[ 9.26001674e-01 3.71545725e-01 6.68930080e-02 5.83568332e+01] [-3.70420678e-01 9.28412410e-01 -2.89640779e-02 -1.18001471e+01] [-7.28657781e-02 2.04223126e-03 9.97339665e-01 -3.26845149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-11.81, Z:-3.27 [[ 9.26080753e-01 3.71307223e-01 6.71221650e-02 5.83870860e+01] [-3.70172243e-01 9.28507720e-01 -2.90847747e-02 -1.18121969e+01] [-7.31228354e-02 2.08808771e-03 9.97320756e-01 -3.27047931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:-11.82, Z:-3.27 [[ 9.26261850e-01 3.70873350e-01 6.70219596e-02 5.84179480e+01] [-3.69739045e-01 9.28680990e-01 -2.90629790e-02 -1.18242154e+01] [-7.30207042e-02 2.13929338e-03 9.97328131e-01 -3.27263900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:-11.84, Z:-3.28 [[ 9.26456694e-01 3.70428052e-01 6.67911069e-02 5.84489126e+01] [-3.69298817e-01 9.28858587e-01 -2.89846208e-02 -1.18358557e+01] [-7.27762098e-02 2.18711914e-03 9.97345898e-01 -3.27517175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:-11.85, Z:-3.28 [[ 9.26662240e-01 3.70043644e-01 6.60665988e-02 5.84803473e+01] [-3.68936291e-01 9.29011735e-01 -2.86916275e-02 -1.18452534e+01] [-7.19938000e-02 2.21308192e-03 9.97402624e-01 -3.27788600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:-11.86, Z:-3.28 [[ 9.26667727e-01 3.70042309e-01 6.59970755e-02 5.85113437e+01] [-3.68935720e-01 9.29012224e-01 -2.86831454e-02 -1.18566323e+01] [-7.19260672e-02 2.23106657e-03 9.97407471e-01 -3.28057210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:-11.87, Z:-3.28 [[ 9.26638992e-01 3.70187586e-01 6.55845247e-02 5.85415058e+01] [-3.69093632e-01 9.28954356e-01 -2.85253355e-02 -1.18681427e+01] [-7.14847550e-02 2.22585779e-03 9.97439209e-01 -3.28277528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:-11.88, Z:-3.28 [[ 9.27019792e-01 3.69292310e-01 6.52494911e-02 5.85718003e+01] [-3.68205895e-01 9.29310440e-01 -2.83993949e-02 -1.18781447e+01] [-7.11247114e-02 2.30155384e-03 9.97464775e-01 -3.28465848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-11.89, Z:-3.29 [[ 9.27350885e-01 3.68457145e-01 6.52661354e-02 5.86026544e+01] [-3.67366714e-01 9.29641676e-01 -2.84262408e-02 -1.18897493e+01] [-7.11479710e-02 2.38449386e-03 9.97462922e-01 -3.28711462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:-11.90, Z:-3.29 [[ 9.27679057e-01 3.67669544e-01 6.50436233e-02 5.86321486e+01] [-3.66583076e-01 9.29953263e-01 -2.83509650e-02 -1.19006900e+01] [-7.09113160e-02 2.45670497e-03 9.97479599e-01 -3.28920424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-11.91, Z:-3.29 [[ 9.28638240e-01 3.65132693e-01 6.56440048e-02 5.86631584e+01] [-3.64018834e-01 9.30951609e-01 -2.86249889e-02 -1.19105426e+01] [-7.15633111e-02 2.68660527e-03 9.97432441e-01 -3.29156040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-11.92, Z:-3.29 [[ 9.29141666e-01 3.63852470e-01 6.56288404e-02 5.86927697e+01] [-3.62734397e-01 9.31452368e-01 -2.86398955e-02 -1.19222070e+01] [-7.15508356e-02 2.80468242e-03 9.97433011e-01 -3.29350506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:-11.93, Z:-3.30 [[ 9.29581852e-01 3.62717704e-01 6.56768402e-02 5.87234696e+01] [-3.61594308e-01 9.31894536e-01 -2.86728182e-02 -1.19339757e+01] [-7.16040273e-02 2.90535984e-03 9.97428906e-01 -3.29602454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:-11.95, Z:-3.30 [[ 9.29962485e-01 3.61720012e-01 6.57906488e-02 5.87541891e+01] [-3.60588682e-01 9.32281926e-01 -2.87439298e-02 -1.19455342e+01] [-7.17326874e-02 3.00741304e-03 9.97419359e-01 -3.29842038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.79, Y:-11.96, Z:-3.30 [[ 9.30173896e-01 3.61181574e-01 6.57601197e-02 5.87854437e+01] [-3.60048417e-01 9.32490461e-01 -2.87519881e-02 -1.19571022e+01] [-7.17053727e-02 3.06752184e-03 9.97421140e-01 -3.30148704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:-11.98, Z:-3.29 [[ 9.30102725e-01 3.60611620e-01 6.97723505e-02 5.88127308e+01] [-3.61084654e-01 9.32512760e-01 -6.15023454e-03 -1.19813557e+01] [-6.72814532e-02 -1.94733752e-02 9.97543981e-01 -3.28883866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:-11.97, Z:-3.31 [[ 9.30207019e-01 3.62588247e-01 5.69619652e-02 5.88492258e+01] [-3.60074346e-01 9.31590363e-01 -4.98584038e-02 -1.19675805e+01] [-7.11432891e-02 2.58680948e-02 9.97130620e-01 -3.31260328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:-11.99, Z:-3.31 [[ 9.29893513e-01 3.61846387e-01 6.60700150e-02 5.88752067e+01] [-3.60701137e-01 9.32232679e-01 -2.89296095e-02 -1.19902885e+01] [-7.20607017e-02 3.06992666e-03 9.97395524e-01 -3.30836985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:-12.00, Z:-3.31 [[ 9.28948275e-01 3.64344020e-01 6.56394583e-02 5.89066773e+01] [-3.63218387e-01 9.31259985e-01 -2.87618474e-02 -1.20003161e+01] [-7.16066080e-02 2.87681035e-03 9.97428803e-01 -3.31126948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:-12.01, Z:-3.31 [[ 9.28173128e-01 3.66360692e-01 6.53795678e-02 5.89371002e+01] [-3.65247463e-01 9.30468909e-01 -2.86687985e-02 -1.20114834e+01] [-7.13367760e-02 2.72988710e-03 9.97448551e-01 -3.31372250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:-12.02, Z:-3.32 [[ 9.27268790e-01 3.68724199e-01 6.49234625e-02 5.89679922e+01] [-3.67630906e-01 9.29535354e-01 -2.84875996e-02 -1.20227659e+01] [-7.08527210e-02 2.54779071e-03 9.97483534e-01 -3.31616380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-12.04, Z:-3.32 [[ 9.27199174e-01 3.68900647e-01 6.49153610e-02 5.89985025e+01] [-3.67806495e-01 9.29465323e-01 -2.85060479e-02 -1.20362307e+01] [-7.08524766e-02 2.55449270e-03 9.97483534e-01 -3.31882441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-12.05, Z:-3.32 [[ 9.25089985e-01 3.74271270e-01 6.42614653e-02 5.90304768e+01] [-3.73211030e-01 9.27316807e-01 -2.82323722e-02 -1.20460426e+01] [-7.01573026e-02 2.13439712e-03 9.97533657e-01 -3.32167028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:-12.06, Z:-3.32 [[ 9.23866842e-01 3.77328558e-01 6.39782510e-02 5.90605629e+01] [-3.76283470e-01 9.26077479e-01 -2.81292254e-02 -1.20578021e+01] [-6.98627775e-02 1.91370033e-03 9.97554775e-01 -3.32418090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:-12.07, Z:-3.33 [[ 9.22728654e-01 3.80087322e-01 6.40738520e-02 5.90910681e+01] [-3.79044361e-01 9.24948999e-01 -2.81908236e-02 -1.20695590e+01] [-6.99800199e-02 1.72564839e-03 9.97546901e-01 -3.32634141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:-12.08, Z:-3.33 [[ 9.21063731e-01 3.84080406e-01 6.42171692e-02 5.91214129e+01] [-3.83040904e-01 9.23298517e-01 -2.82756822e-02 -1.20794398e+01] [-7.01517526e-02 1.44590281e-03 9.97535283e-01 -3.32867956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:-12.09, Z:-3.33 [[ 9.20422699e-01 3.85616070e-01 6.42051547e-02 5.91517723e+01] [-3.84579285e-01 9.22658351e-01 -2.82902962e-02 -1.20913577e+01] [-7.01486150e-02 1.34705822e-03 9.97535642e-01 -3.33136519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:-12.10, Z:-3.33 [[ 9.19949311e-01 3.86761639e-01 6.40991394e-02 5.91821075e+01] [-3.85729561e-01 9.22178835e-01 -2.82648607e-02 -1.21036321e+01] [-7.00426335e-02 1.27730616e-03 9.97543181e-01 -3.33401054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:-12.11, Z:-3.34 [[ 9.19330422e-01 3.88812365e-01 6.04691592e-02 5.92123846e+01] [-3.87483799e-01 9.21292340e-01 -3.28135753e-02 -1.21124045e+01] [-6.84680970e-02 6.73569851e-03 9.97630568e-01 -3.33825187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:-12.13, Z:-3.34 [[ 9.19312540e-01 3.87884121e-01 6.64105596e-02 5.92394050e+01] [-3.87229553e-01 9.21696746e-01 -2.29865285e-02 -1.21299885e+01] [-7.01265062e-02 -4.58432741e-03 9.97527572e-01 -3.33689379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:-12.14, Z:-3.34 [[ 9.19152429e-01 3.88599619e-01 6.44138847e-02 5.92703225e+01] [-3.87558600e-01 9.21405953e-01 -2.84499749e-02 -1.21397610e+01] [-7.04069862e-02 1.18570853e-03 9.97517644e-01 -3.34131388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:-12.15, Z:-3.34 [[ 9.19037960e-01 3.88817780e-01 6.47299135e-02 5.93006487e+01] [-3.87765530e-01 9.21313903e-01 -2.86109483e-02 -1.21528109e+01] [-7.07610146e-02 1.19451836e-03 9.97492582e-01 -3.34391743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:-12.16, Z:-3.35 [[ 9.19424162e-01 3.87976978e-01 6.42889893e-02 5.93296945e+01] [-3.86935503e-01 9.21668190e-01 -2.84370341e-02 -1.21645988e+01] [-7.02860309e-02 1.27000387e-03 9.97526070e-01 -3.34696981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:-12.18, Z:-3.35 [[ 9.19717862e-01 3.87348619e-01 6.38756776e-02 5.93597164e+01] [-3.86317662e-01 9.21932365e-01 -2.82732794e-02 -1.21778310e+01] [-6.98406703e-02 1.32713767e-03 9.97557276e-01 -3.34954530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:-12.19, Z:-3.35 [[ 9.20102266e-01 3.86525838e-01 6.33213746e-02 5.93897505e+01] [-3.85509371e-01 9.22277522e-01 -2.80481391e-02 -1.21913400e+01] [-6.92412110e-02 1.39617307e-03 9.97598970e-01 -3.35222940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:-12.21, Z:-3.35 [[ 9.20986784e-01 3.84513350e-01 6.27122536e-02 5.94193376e+01] [-3.83510321e-01 9.23118128e-01 -2.77985005e-02 -1.22053895e+01] [-6.85797126e-02 1.55125514e-03 9.97644434e-01 -3.35450210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:-12.22, Z:-3.36 [[ 9.21308414e-01 3.83650075e-01 6.32726387e-02 5.94485400e+01] [-3.82625482e-01 9.23477069e-01 -2.80685492e-02 -1.22184750e+01] [-6.91993319e-02 1.65006667e-03 9.97601488e-01 -3.35714025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:-12.23, Z:-3.36 [[ 9.21630409e-01 3.82807016e-01 6.36881243e-02 5.94774748e+01] [-3.81765490e-01 9.23826688e-01 -2.82729696e-02 -1.22314452e+01] [-6.96598801e-02 1.74330049e-03 9.97569277e-01 -3.35945819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:-12.24, Z:-3.36 [[ 9.21973766e-01 3.81928316e-01 6.39932458e-02 5.95077025e+01] [-3.80873321e-01 9.24190127e-01 -2.84275035e-02 -1.22448500e+01] [-6.99991945e-02 1.83609237e-03 9.97545358e-01 -3.36226861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:-12.27, Z:-3.36 [[ 9.22577700e-01 3.79953241e-01 6.69770234e-02 5.95344155e+01] [-3.79882698e-01 9.24924375e-01 -1.42841325e-02 -1.22657505e+01] [-6.73759839e-02 -1.22651902e-02 9.97652265e-01 -3.35629776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-12.26, Z:-3.37 [[ 9.22713842e-01 3.81003811e-01 5.86111067e-02 5.95674792e+01] [-3.79055074e-01 9.24428440e-01 -4.18247470e-02 -1.22633848e+01] [-7.01171620e-02 1.63754356e-02 9.97404346e-01 -3.37117599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:-12.28, Z:-3.37 [[ 9.22709048e-01 3.80046996e-01 6.45932942e-02 5.95942771e+01] [-3.78964455e-01 9.24964935e-01 -2.87369236e-02 -1.22837871e+01] [-7.06679136e-02 2.03725691e-03 9.97497817e-01 -3.36964531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:-12.30, Z:-3.37 [[ 9.22461803e-01 3.80767428e-01 6.38779090e-02 5.96237029e+01] [-3.79708950e-01 9.24668721e-01 -2.84406218e-02 -1.22971534e+01] [-6.98951668e-02 1.98037352e-03 9.97552376e-01 -3.37229600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-12.31, Z:-3.38 [[ 9.22070245e-01 3.81740782e-01 6.37215712e-02 5.96534286e+01] [-3.80688973e-01 9.24267448e-01 -2.83829254e-02 -1.23104937e+01] [-6.97306941e-02 1.91295148e-03 9.97564018e-01 -3.37517155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:-12.32, Z:-3.38 [[ 9.21602503e-01 3.82901973e-01 6.35209012e-02 5.96824424e+01] [-3.81857976e-01 9.23787147e-01 -2.83159605e-02 -1.23235549e+01] [-6.95220292e-02 1.84009732e-03 9.97578719e-01 -3.37798406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:-12.34, Z:-3.38 [[ 9.21032547e-01 3.84595241e-01 6.15268161e-02 5.97122264e+01] [-3.83425411e-01 9.23075307e-01 -3.02808936e-02 -1.23354095e+01] [-6.84397722e-02 4.29874381e-03 9.97645989e-01 -3.38123617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-12.35, Z:-3.38 [[ 9.19978753e-01 3.87254256e-01 6.06072228e-02 5.97425307e+01] [-3.85984911e-01 9.21953810e-01 -3.18876180e-02 -1.23476106e+01] [-6.82256758e-02 5.94245761e-03 9.97652216e-01 -3.38457154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:-12.36, Z:-3.38 [[ 9.19251956e-01 3.88370707e-01 6.43741770e-02 5.97700776e+01] [-3.87572793e-01 9.21501049e-01 -2.49628943e-02 -1.23643273e+01] [-6.90157286e-02 -2.00249015e-03 9.97613562e-01 -3.38446503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:-12.38, Z:-3.39 [[ 9.18660861e-01 3.90143383e-01 6.20512985e-02 5.98004902e+01] [-3.89068842e-01 9.20750604e-01 -2.90475601e-02 -1.23754674e+01] [-6.84664840e-02 2.54262973e-03 9.97650177e-01 -3.38852335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-12.39, Z:-3.39 [[ 9.18178687e-01 3.90665028e-01 6.57931210e-02 5.98276075e+01] [-3.89963535e-01 9.20524741e-01 -2.37200761e-02 -1.23925435e+01] [-6.98307999e-02 -3.87764976e-03 9.97551314e-01 -3.38841077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:-12.40, Z:-3.39 [[ 9.18103194e-01 3.91219777e-01 6.35107143e-02 5.98581989e+01] [-3.90190085e-01 9.20296380e-01 -2.83949090e-02 -1.24040946e+01] [-6.95573304e-02 1.28820562e-03 9.97577124e-01 -3.39221349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-12.42, Z:-3.39 [[ 9.18516105e-01 3.90268390e-01 6.33935985e-02 5.98868377e+01] [-3.89238772e-01 9.20700107e-01 -2.83635513e-02 -1.24188187e+01] [-6.94358904e-02 1.37713222e-03 9.97585465e-01 -3.39462528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:-12.43, Z:-3.40 [[ 9.18756813e-01 3.89647439e-01 6.37243426e-02 5.99167455e+01] [-3.88604184e-01 9.20962959e-01 -2.85309525e-02 -1.24330063e+01] [-6.98047717e-02 1.44946083e-03 9.97559619e-01 -3.39712994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:-12.45, Z:-3.40 [[ 9.19121037e-01 3.88756874e-01 6.39109681e-02 5.99468978e+01] [-3.87703862e-01 9.21339090e-01 -2.86355905e-02 -1.24468863e+01] [-7.00159558e-02 1.54104446e-03 9.97544681e-01 -3.39972025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:-12.46, Z:-3.40 [[ 9.19410650e-01 3.88002299e-01 6.43294038e-02 5.99769723e+01] [-3.86932055e-01 9.21656965e-01 -2.88448055e-02 -1.24609102e+01] [-7.04814940e-02 1.62911297e-03 9.97511757e-01 -3.40259172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:-12.47, Z:-3.41 [[ 9.19743156e-01 3.88019501e-01 5.92738810e-02 6.00078776e+01] [-3.86433238e-01 9.21587447e-01 -3.66869081e-02 -1.24700513e+01] [-6.88613005e-02 1.08371348e-02 9.97567380e-01 -3.40827406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-12.49, Z:-3.41 [[ 9.20152790e-01 3.85360701e-01 6.93972164e-02 6.00329386e+01] [-3.84858916e-01 9.22736473e-01 -2.10003958e-02 -1.24937205e+01] [-7.21280699e-02 -7.38456472e-03 9.97368041e-01 -3.40538668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:-12.50, Z:-3.41 [[ 9.20288710e-01 3.85629235e-01 6.60210799e-02 6.00641979e+01] [-3.84491116e-01 9.22651838e-01 -2.96676280e-02 -1.25036247e+01] [-7.23551754e-02 1.91826445e-03 9.97377085e-01 -3.41044701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-12.52, Z:-3.41 [[ 9.20447002e-01 3.85230177e-01 6.61439837e-02 6.00926326e+01] [-3.84085149e-01 9.22818408e-01 -2.97453258e-02 -1.25174434e+01] [-7.24976829e-02 1.97407416e-03 9.97366627e-01 -3.41277530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-12.53, Z:-3.42 [[ 9.20842427e-01 3.84221245e-01 6.65075954e-02 6.01222853e+01] [-3.83059424e-01 9.23238697e-01 -2.99297019e-02 -1.25321858e+01] [-7.29020131e-02 2.08417816e-03 9.97336930e-01 -3.41575647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:-12.55, Z:-3.42 [[ 9.20837296e-01 3.84136360e-01 6.70666113e-02 6.01513285e+01] [-3.82953013e-01 9.23273915e-01 -3.02037570e-02 -1.25462121e+01] [-7.35232140e-02 2.12938505e-03 9.97291233e-01 -3.41861112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:-12.56, Z:-3.42 [[ 9.20789928e-01 3.84201160e-01 6.73452139e-02 6.01801758e+01] [-3.83006577e-01 9.23246899e-01 -3.03500589e-02 -1.25598585e+01] [-7.38367877e-02 2.15236871e-03 9.97268016e-01 -3.42110768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:-12.57, Z:-3.42 [[ 9.20096789e-01 3.85853007e-01 6.73747370e-02 6.02102068e+01] [-3.84660282e-01 9.22558018e-01 -3.03837111e-02 -1.25742725e+01] [-7.38807501e-02 2.03956967e-03 9.97264997e-01 -3.42334921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:-12.59, Z:-3.43 [[ 9.18983857e-01 3.88749654e-01 6.58967166e-02 6.02364260e+01] [-3.87465228e-01 9.21336072e-01 -3.17889755e-02 -1.25855586e+01] [-7.30709753e-02 3.68086894e-03 9.97319951e-01 -3.42652908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:-12.60, Z:-3.43 [[ 9.18697414e-01 3.89183058e-01 6.73172327e-02 6.02673323e+01] [-3.88186916e-01 9.21160264e-01 -2.78331816e-02 -1.26026401e+01] [-7.28421626e-02 -5.61397002e-04 9.97343323e-01 -3.42785918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:-12.62, Z:-3.43 [[ 9.17797958e-01 3.91618135e-01 6.54381051e-02 6.02974192e+01] [-3.90504609e-01 9.20126498e-01 -2.95529707e-02 -1.26156716e+01] [-7.17848137e-02 1.56977452e-03 9.97418907e-01 -3.43138844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:-12.63, Z:-3.44 [[ 9.16140199e-01 3.95668700e-01 6.42916466e-02 6.03268915e+01] [-3.94602369e-01 9.18392464e-01 -2.90560216e-02 -1.26303225e+01] [-7.05415220e-02 1.24975334e-03 9.97508061e-01 -3.43520620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:-12.64, Z:-3.44 [[ 9.15114060e-01 3.98089321e-01 6.39620938e-02 6.03564686e+01] [-3.97038332e-01 9.17346027e-01 -2.89280089e-02 -1.26449869e+01] [-7.01913040e-02 1.07702460e-03 9.97532967e-01 -3.43798929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:-12.66, Z:-3.44 [[ 9.14200489e-01 4.00204825e-01 6.38244728e-02 6.03848643e+01] [-3.99162005e-01 9.16425245e-01 -2.88870986e-02 -1.26590611e+01] [-7.00511144e-02 9.32295080e-04 9.97542968e-01 -3.44043151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:-12.67, Z:-3.44 [[ 9.13305317e-01 4.02213433e-01 6.40136790e-02 6.04133707e+01] [-4.01167932e-01 9.15545584e-01 -2.89926674e-02 -1.26729830e+01] [-7.02686814e-02 7.98922120e-04 9.97527781e-01 -3.44308569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:-12.68, Z:-3.45 [[ 9.12146083e-01 4.06028623e-01 5.59489165e-02 6.04448865e+01] [-4.04389101e-01 9.13774391e-01 -3.85462893e-02 -1.26834267e+01] [-6.67755839e-02 1.25347148e-02 9.97689281e-01 -3.44926499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:-12.71, Z:-3.44 [[ 9.11739677e-01 4.05094060e-01 6.80408951e-02 6.04682269e+01] [-4.04857406e-01 9.14205547e-01 -1.78521398e-02 -1.27099339e+01] [-6.94351595e-02 -1.12703561e-02 9.97522801e-01 -3.44401198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:-12.72, Z:-3.45 [[ 9.11496509e-01 4.06431833e-01 6.31449136e-02 6.04992792e+01] [-4.05421506e-01 9.13680965e-01 -2.86442999e-02 -1.27197003e+01] [-6.93362610e-02 5.08873398e-04 9.97593216e-01 -3.44987932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:-12.73, Z:-3.46 [[ 9.11750188e-01 4.06834044e-01 5.65478167e-02 6.05311600e+01] [-4.05304169e-01 9.13439942e-01 -3.68239523e-02 -1.27304247e+01] [-6.66342719e-02 1.06551796e-02 9.97720573e-01 -3.45582358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:-12.76, Z:-3.45 [[ 9.12093887e-01 4.04321380e-01 6.78893394e-02 6.05541101e+01] [-4.03940441e-01 9.14569628e-01 -1.98624295e-02 -1.27567090e+01] [-7.01203328e-02 -9.30684915e-03 9.97495124e-01 -3.45173899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:-12.77, Z:-3.46 [[ 9.12403958e-01 4.04231598e-01 6.41547566e-02 6.05838405e+01] [-4.03180270e-01 9.14656378e-01 -2.91441465e-02 -1.27673513e+01] [-7.04605422e-02 7.25302579e-04 9.97514304e-01 -3.45738658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-12.78, Z:-3.46 [[ 9.13600170e-01 4.01433778e-01 6.46966123e-02 6.06116119e+01] [-4.00356143e-01 9.15887540e-01 -2.94104236e-02 -1.27844084e+01] [-7.10611585e-02 9.67681778e-04 9.97471491e-01 -3.46005009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-12.80, Z:-3.46 [[ 9.14143301e-01 4.00131117e-01 6.50931171e-02 6.06401211e+01] [-3.99035386e-01 9.16457249e-01 -2.96120062e-02 -1.27998611e+01] [-7.15037441e-02 1.09515998e-03 9.97439730e-01 -3.46279992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.67, Y:-12.81, Z:-3.47 [[ 9.14761169e-01 3.99099056e-01 6.27052431e-02 6.06694371e+01] [-3.97750638e-01 9.16891578e-01 -3.32304787e-02 -1.28134333e+01] [-7.07561620e-02 5.45690108e-03 9.97478715e-01 -3.46682837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:-12.83, Z:-3.47 [[ 9.15845895e-01 3.95605740e-01 6.87196881e-02 6.06954207e+01] [-3.94722182e-01 9.18416201e-01 -2.65721682e-02 -1.28348159e+01] [-7.36253771e-02 -2.78917408e-03 9.97282069e-01 -3.46682274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:-12.85, Z:-3.47 [[ 9.16191329e-01 3.95103504e-01 6.69826069e-02 6.07249719e+01] [-3.93926144e-01 9.18635259e-01 -3.05197463e-02 -1.28482892e+01] [-7.35910431e-02 1.57572688e-03 9.97287258e-01 -3.47084825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:-12.86, Z:-3.47 [[ 9.16533273e-01 3.94365827e-01 6.66509851e-02 6.07538047e+01] [-3.93196570e-01 9.18952057e-01 -3.03903718e-02 -1.28640059e+01] [-7.32339839e-02 1.64684821e-03 9.97313427e-01 -3.47335542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.78, Y:-12.88, Z:-3.48 [[ 9.17098030e-01 3.93082938e-01 6.64605604e-02 6.07805151e+01] [-3.91915359e-01 9.19501326e-01 -3.03259474e-02 -1.28810051e+01] [-7.30311859e-02 1.76495221e-03 9.97328096e-01 -3.47630954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:-12.90, Z:-3.48 [[ 9.17043329e-01 3.93230134e-01 6.63445198e-02 6.08090110e+01] [-3.92066067e-01 9.19438392e-01 -3.02860043e-02 -1.28962101e+01] [-7.29090681e-02 1.76214320e-03 9.97337036e-01 -3.47881323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.84, Y:-12.91, Z:-3.48 [[ 9.16860384e-01 3.93582715e-01 6.67808550e-02 6.08379481e+01] [-3.92402703e-01 9.19287514e-01 -3.05054857e-02 -1.29111676e+01] [-7.33972381e-02 1.76428337e-03 9.97301225e-01 -3.48155997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.87, Y:-12.93, Z:-3.48 [[ 9.16814724e-01 3.93690492e-01 6.67724325e-02 6.08682587e+01] [-3.92509424e-01 9.19241341e-01 -3.05239100e-02 -1.29251097e+01] [-7.33969535e-02 1.77596107e-03 9.97301225e-01 -3.48420198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-12.94, Z:-3.49 [[ 9.16598566e-01 3.94191797e-01 6.67824600e-02 6.08970031e+01] [-3.93011066e-01 9.19026542e-01 -3.05371290e-02 -1.29397546e+01] [-7.34123391e-02 1.74404281e-03 9.97300149e-01 -3.48686103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213617864999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:60.92, Y:-12.96, Z:-3.49 [[ 9.16170985e-01 3.95177572e-01 6.68237514e-02 6.09248262e+01] [-3.93996524e-01 9.18603205e-01 -3.05759757e-02 -1.29558510e+01] [-7.34674521e-02 1.68449606e-03 9.97296193e-01 -3.49039149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.95, Y:-12.97, Z:-3.49 [[ 9.15955047e-01 3.95745947e-01 6.64190998e-02 6.09536858e+01] [-3.94579247e-01 9.18358554e-01 -3.04102733e-02 -1.29715329e+01] [-7.30312908e-02 1.64684497e-03 9.97328290e-01 -3.49339082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:-12.99, Z:-3.50 [[ 9.15779886e-01 3.96115232e-01 6.66327485e-02 6.09823895e+01] [-3.94940438e-01 9.18199339e-01 -3.05290661e-02 -1.29871793e+01] [-7.32751738e-02 1.64193785e-03 9.97310410e-01 -3.49625311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.01, Y:-13.00, Z:-3.50 [[ 9.15803160e-01 3.96096204e-01 6.64256628e-02 6.10109626e+01] [-3.94927103e-01 9.18207519e-01 -3.04554551e-02 -1.30024747e+01] [-7.30558332e-02 1.65790746e-03 9.97326474e-01 -3.49872088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.04, Y:-13.02, Z:-3.50 [[ 9.15981306e-01 3.95537683e-01 6.72918164e-02 6.10393181e+01] [-3.94335398e-01 9.18448107e-01 -3.08653180e-02 -1.30189252e+01] [-7.40124378e-02 1.73650910e-03 9.97255806e-01 -3.50157833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:-13.03, Z:-3.50 [[ 9.16194148e-01 3.94984739e-01 6.76412472e-02 6.10687427e+01] [-3.93766856e-01 9.18685899e-01 -3.10464509e-02 -1.30341320e+01] [-7.44039343e-02 1.80969539e-03 9.97226544e-01 -3.50426429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:-13.05, Z:-3.51 [[ 9.16654586e-01 3.93961315e-01 6.73710017e-02 6.10961409e+01] [-3.92748747e-01 9.19125046e-01 -3.09446353e-02 -1.30503468e+01] [-7.41133643e-02 1.90566541e-03 9.97248002e-01 -3.50680547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:-13.07, Z:-3.51 [[ 9.16869272e-01 3.93457520e-01 6.73937590e-02 6.11254908e+01] [-3.92241240e-01 9.19340696e-01 -3.09757106e-02 -1.30658238e+01] [-7.41454515e-02 1.96606556e-03 9.97245500e-01 -3.50957946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:-13.08, Z:-3.51 [[ 9.16928982e-01 3.93204428e-01 6.80552734e-02 6.11544093e+01] [-3.91961745e-01 9.19448841e-01 -3.13020756e-02 -1.30811321e+01] [-7.48814570e-02 2.02671660e-03 9.97190383e-01 -3.51217073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.18, Y:-13.10, Z:-3.51 [[ 9.16965982e-01 3.92985287e-01 6.88182495e-02 6.11832239e+01] [-3.91712222e-01 9.19542388e-01 -3.16754161e-02 -1.30960071e+01] [-7.57292699e-02 2.08832964e-03 9.97126229e-01 -3.51490494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:-13.11, Z:-3.52 [[ 9.16886961e-01 3.93040577e-01 6.95514631e-02 6.12124268e+01] [-3.91738611e-01 9.19518668e-01 -3.20356122e-02 -1.31110528e+01] [-7.65451642e-02 2.12704158e-03 9.97063846e-01 -3.51797314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.24, Y:-13.13, Z:-3.52 [[ 9.16774658e-01 3.93212075e-01 7.00606223e-02 6.12412821e+01] [-3.91889646e-01 9.19445291e-01 -3.22933883e-02 -1.31267717e+01] [-7.71150595e-02 2.14972759e-03 9.97019883e-01 -3.52112274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.573617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.27, Y:-13.14, Z:-3.52 [[ 9.16562694e-01 3.93721799e-01 6.99712290e-02 6.12710727e+01] [-3.92402421e-01 9.19227190e-01 -3.22755973e-02 -1.31416088e+01] [-7.70270624e-02 2.12572874e-03 9.97026736e-01 -3.52417455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.30, Y:-13.16, Z:-3.53 [[ 9.16342911e-01 3.94233241e-01 6.99701536e-02 6.13005140e+01] [-3.92913583e-01 9.19008011e-01 -3.22984836e-02 -1.31563321e+01] [-7.70362676e-02 2.10426270e-03 9.97026071e-01 -3.52740022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.33, Y:-13.17, Z:-3.53 [[ 9.15795046e-01 3.95550956e-01 6.97056266e-02 6.13276848e+01] [-3.94243275e-01 9.18441839e-01 -3.21998178e-02 -1.31726074e+01] [-7.67572325e-02 2.00745909e-03 9.97047791e-01 -3.52971430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:-13.19, Z:-3.53 [[ 9.15454382e-01 3.96307937e-01 6.98805606e-02 6.13563516e+01] [-3.94994169e-01 9.18115538e-01 -3.23027142e-02 -1.31873470e+01] [-7.69602505e-02 1.96924730e-03 9.97032217e-01 -3.53224696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:-13.20, Z:-3.53 [[ 9.14940965e-01 3.97494458e-01 6.98654850e-02 6.13855309e+01] [-3.96183606e-01 9.17602644e-01 -3.23100251e-02 -1.32019031e+01] [-7.69518097e-02 1.88220575e-03 9.97033037e-01 -3.53452145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617864999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.41, Y:-13.21, Z:-3.54 [[ 9.13546894e-01 4.00760785e-01 6.94468478e-02 6.14137214e+01] [-3.99248137e-01 9.16172665e-01 -3.50509995e-02 -1.32130049e+01] [-7.76723697e-02 4.29420718e-03 9.96969690e-01 -3.53884667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.753617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.44, Y:-13.23, Z:-3.54 [[ 9.13055971e-01 4.01328712e-01 7.25538361e-02 6.14437922e+01] [-4.00176873e-01 9.15933217e-01 -3.04107327e-02 -1.32300494e+01] [-7.86591687e-02 -1.26766625e-03 9.96900761e-01 -3.53953998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.47, Y:-13.24, Z:-3.54 [[ 9.11965572e-01 4.03952975e-01 7.16992997e-02 6.14742530e+01] [-4.02587798e-01 9.14778644e-01 -3.32129126e-02 -1.32415485e+01] [-7.90054430e-02 1.42376969e-03 9.96873168e-01 -3.54300805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.50, Y:-13.25, Z:-3.55 [[ 9.10300613e-01 4.07611073e-01 7.21526592e-02 6.15041529e+01] [-4.06238087e-01 9.13154929e-01 -3.34468705e-02 -1.32545829e+01] [-7.95198711e-02 1.13554851e-03 9.96832634e-01 -3.54608295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.53, Y:-13.27, Z:-3.55 [[ 9.09764842e-01 4.08970859e-01 7.12093374e-02 6.15324675e+01] [-4.07635895e-01 9.12546868e-01 -3.30331780e-02 -1.32689187e+01] [-7.84914650e-02 1.02494196e-03 9.96914259e-01 -3.54795482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.56, Y:-13.28, Z:-3.55 [[ 9.09308755e-01 4.09995637e-01 7.11418732e-02 6.15619773e+01] [-4.08664588e-01 9.12086983e-01 -3.30240883e-02 -1.32834865e+01] [-7.84273086e-02 9.55928327e-04 9.96919377e-01 -3.55087191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.59, Y:-13.30, Z:-3.55 [[ 9.08579084e-01 4.11642789e-01 7.09525413e-02 6.15915128e+01] [-4.10321977e-01 9.11344896e-01 -3.29598941e-02 -1.32966494e+01] [-7.82299392e-02 8.33283337e-04 9.96934994e-01 -3.55384654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.62, Y:-13.31, Z:-3.56 [[ 9.08042332e-01 4.12911799e-01 7.04483525e-02 6.16210161e+01] [-4.11611713e-01 9.10770717e-01 -3.27490300e-02 -1.33091914e+01] [-7.76847574e-02 7.40138465e-04 9.96977698e-01 -3.55651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:-13.32, Z:-3.56 [[ 9.07662560e-01 4.14812481e-01 6.38692663e-02 6.16521632e+01] [-4.12957938e-01 9.09847200e-01 -4.05439855e-02 -1.33169733e+01] [-7.49294243e-02 1.04249372e-02 9.97134345e-01 -3.56361442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.68, Y:-13.34, Z:-3.56 [[ 9.06967844e-01 4.14974273e-01 7.21504132e-02 6.16778380e+01] [-4.14274157e-01 9.09805395e-01 -2.51210332e-02 -1.33383280e+01] [-7.60674176e-02 -7.10608222e-03 9.97077355e-01 -3.55956817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.70, Y:-13.35, Z:-3.56 [[ 9.06448036e-01 4.16047732e-01 7.24999556e-02 6.17047146e+01] [-4.15210027e-01 9.09325271e-01 -2.69848848e-02 -1.33503560e+01] [-7.71530419e-02 -5.64231272e-03 9.97003296e-01 -3.56250846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.74, Y:-13.36, Z:-3.57 [[ 9.06880685e-01 4.15918807e-01 6.76680746e-02 6.17369886e+01] [-4.14428501e-01 9.09392638e-01 -3.54125386e-02 -1.33605336e+01] [-7.62655896e-02 4.07136856e-03 9.97079226e-01 -3.56831389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.77, Y:-13.38, Z:-3.57 [[ 9.06962077e-01 4.15837359e-01 6.70751934e-02 6.17652291e+01] [-4.14433026e-01 9.09432949e-01 -3.43071241e-02 -1.33752539e+01] [-7.52665748e-02 3.31708517e-03 9.97157931e-01 -3.57017438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.113617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.79, Y:-13.39, Z:-3.57 [[ 9.07874309e-01 4.13414074e-01 6.96637810e-02 6.17930413e+01] [-4.12382835e-01 9.10540570e-01 -2.92620579e-02 -1.33921160e+01] [-7.55290454e-02 -2.16187689e-03 9.97141259e-01 -3.57088306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.82, Y:-13.40, Z:-3.58 [[ 9.08260409e-01 4.13405929e-01 6.44869481e-02 6.18234782e+01] [-4.11868144e-01 9.10525055e-01 -3.61767371e-02 -1.34009854e+01] [-7.36726596e-02 6.29777844e-03 9.97262592e-01 -3.57662854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.85, Y:-13.42, Z:-3.58 [[ 9.08417216e-01 4.12191335e-01 6.98316995e-02 6.18515866e+01] [-4.11263527e-01 9.11090894e-01 -2.78512994e-02 -1.34191853e+01] [-7.51030898e-02 -3.41863116e-03 9.97169915e-01 -3.57584220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.88, Y:-13.43, Z:-3.58 [[ 9.08671947e-01 4.12391496e-01 6.51808800e-02 6.18828893e+01] [-4.10840445e-01 9.10985820e-01 -3.62624374e-02 -1.34281809e+01] [-7.43331782e-02 6.17171785e-03 9.97214364e-01 -3.58256739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.91, Y:-13.44, Z:-3.58 [[ 9.09243247e-01 4.10712865e-01 6.77617863e-02 6.19109448e+01] [-4.09447466e-01 9.11763368e-01 -3.22541906e-02 -1.34434558e+01] [-7.50299255e-02 1.58201331e-03 9.97180028e-01 -3.58318704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.94, Y:-13.46, Z:-3.58 [[ 9.10141324e-01 4.08008868e-01 7.19133806e-02 6.19393723e+01] [-4.07233620e-01 9.12959522e-01 -2.58009625e-02 -1.34621044e+01] [-7.61810271e-02 -5.80302413e-03 9.97077116e-01 -3.58253419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.293617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.97, Y:-13.47, Z:-3.59 [[ 9.10969587e-01 4.07213190e-01 6.56645287e-02 6.19687253e+01] [-4.05707923e-01 9.13315741e-01 -3.54321785e-02 -1.34710693e+01] [-7.44008981e-02 5.63701743e-03 9.97212480e-01 -3.58869399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.00, Y:-13.49, Z:-3.59 [[ 9.12526553e-01 4.03701543e-01 6.57294020e-02 6.19960993e+01] [-4.02266995e-01 9.14877565e-01 -3.43555709e-02 -1.34855790e+01] [-7.40037523e-02 4.90960164e-03 9.97245878e-01 -3.59044088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.02, Y:-13.50, Z:-3.59 [[ 9.13194518e-01 4.01096352e-01 7.20936095e-02 6.20243221e+01] [-4.00317364e-01 9.16019373e-01 -2.55835051e-02 -1.35036447e+01] [-7.63005936e-02 -5.49760713e-03 9.97069705e-01 -3.58909693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.06, Y:-13.51, Z:-3.60 [[ 9.13638385e-01 4.01167352e-01 6.58001235e-02 6.20551749e+01] [-3.99512677e-01 9.15972382e-01 -3.72050571e-02 -1.35098843e+01] [-7.51965501e-02 7.70398481e-03 9.97138971e-01 -3.59720689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.08, Y:-13.53, Z:-3.60 [[ 9.14203489e-01 3.98777098e-01 7.21720670e-02 6.20817012e+01] [-3.97869004e-01 9.17039710e-01 -2.71739914e-02 -1.35287845e+01] [-7.70210168e-02 -3.87247068e-03 9.97021949e-01 -3.59551205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.11, Y:-13.54, Z:-3.60 [[ 9.15207836e-01 3.97034082e-01 6.89822817e-02 6.21128976e+01] [-3.95718872e-01 9.17800906e-01 -3.23739321e-02 -1.35397292e+01] [-7.61655551e-02 2.33128561e-03 9.97092460e-01 -3.60060914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.473617864999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:62.14, Y:-13.55, Z:-3.60 [[ 9.15522815e-01 3.96367367e-01 6.86358965e-02 6.21427574e+01] [-3.95061791e-01 9.18088870e-01 -3.22336486e-02 -1.35541400e+01] [-7.57902191e-02 2.39522052e-03 9.97120908e-01 -3.60340574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.17, Y:-13.57, Z:-3.61 [[ 9.15754202e-01 3.96421684e-01 6.51466811e-02 6.21727339e+01] [-3.94868670e-01 9.18041748e-01 -3.57502797e-02 -1.35661343e+01] [-7.39795590e-02 7.01408561e-03 9.97235091e-01 -3.60755442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.533617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.20, Y:-13.58, Z:-3.61 [[ 9.15432663e-01 3.96199609e-01 7.07736542e-02 6.22008853e+01] [-3.95214750e-01 9.18161459e-01 -2.80149452e-02 -1.35842304e+01] [-7.60811519e-02 -2.32499614e-03 9.97098918e-01 -3.60600764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:62.23, Y:-13.59, Z:-3.61 [[ 9.15145552e-01 3.97960475e-01 6.43123595e-02 6.22326708e+01] [-3.96380765e-01 9.17370429e-01 -3.62461771e-02 -1.35923322e+01] [-7.34228027e-02 7.67834552e-03 9.97271345e-01 -3.61262062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.26, Y:-13.61, Z:-3.61 [[ 9.14782400e-01 3.97923860e-01 6.94964943e-02 6.22599529e+01] [-3.97046580e-01 9.17412678e-01 -2.66081150e-02 -1.36105778e+01] [-7.43449688e-02 -3.25271009e-03 9.97227279e-01 -3.61166183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62361786499999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:62.29, Y:-13.63, Z:-3.60 [[ 9.14266565e-01 3.98758228e-01 7.14739419e-02 6.22874084e+01] [-3.99120984e-01 9.16846401e-01 -9.75286438e-03 -1.36325285e+01] [-6.94196613e-02 -1.96100322e-02 9.97394785e-01 -3.60415394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.653617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.32, Y:-13.62, Z:-3.63 [[ 9.13554882e-01 4.02711758e-01 5.69273024e-02 6.23237192e+01] [-4.00173962e-01 9.15015681e-01 -5.10598053e-02 -1.36227746e+01] [-7.26517583e-02 2.38651103e-02 9.97071802e-01 -3.62780268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.35, Y:-13.65, Z:-3.62 [[ 9.13061137e-01 4.02408296e-01 6.62338610e-02 6.23492219e+01] [-4.01201014e-01 9.15458286e-01 -3.12069243e-02 -1.36476657e+01] [-7.31922621e-02 1.92073755e-03 9.97316000e-01 -3.62241067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.38, Y:-13.66, Z:-3.63 [[ 9.12633839e-01 4.03434875e-01 6.58769949e-02 6.23788091e+01] [-4.02241608e-01 9.15006493e-01 -3.10613257e-02 -1.36620039e+01] [-7.28091002e-02 1.84914849e-03 9.97344181e-01 -3.62508795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:-13.68, Z:-3.63 [[ 9.12020778e-01 4.04811113e-01 6.59246731e-02 6.24079149e+01] [-4.03619062e-01 9.14398658e-01 -3.10925694e-02 -1.36752013e+01] [-7.28680502e-02 1.74861464e-03 9.97340057e-01 -3.62760642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:-13.69, Z:-3.63 [[ 9.11636374e-01 4.05627148e-01 6.62249063e-02 6.24371040e+01] [-4.04424829e-01 9.14037030e-01 -3.12548382e-02 -1.36884825e+01] [-7.32098276e-02 1.71005096e-03 9.97315094e-01 -3.63037658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.47, Y:-13.70, Z:-3.64 [[ 9.11563716e-01 4.06535756e-01 6.14838977e-02 6.24690942e+01] [-4.04960184e-01 9.13594085e-01 -3.67844650e-02 -1.36987345e+01] [-7.11255255e-02 8.63285306e-03 9.97430014e-01 -3.63588842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-13.72, Z:-3.63 [[ 9.11094575e-01 4.06351988e-01 6.91717898e-02 6.24956220e+01] [-4.05593764e-01 9.13702962e-01 -2.53099933e-02 -1.37187621e+01] [-7.34872354e-02 -4.99584895e-03 9.97283645e-01 -3.63313946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-13.73, Z:-3.64 [[ 9.10821450e-01 4.07496260e-01 6.59627490e-02 6.25241767e+01] [-4.06224462e-01 9.13203173e-01 -3.22746308e-02 -1.37283140e+01] [-7.33891830e-02 2.60074380e-03 9.97299987e-01 -3.63856788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:-13.74, Z:-3.64 [[ 9.11139937e-01 4.06521198e-01 6.75613027e-02 6.25534267e+01] [-4.05369675e-01 9.13641226e-01 -3.05800097e-02 -1.37440015e+01] [-7.41582136e-02 4.75364806e-04 9.97246375e-01 -3.63991395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.58, Y:-13.76, Z:-3.64 [[ 9.11302552e-01 4.06242894e-01 6.70400655e-02 6.25831439e+01] [-4.05007660e-01 9.13763473e-01 -3.17034784e-02 -1.37575830e+01] [-7.41380759e-02 1.73972076e-03 9.97246469e-01 -3.64252303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-13.77, Z:-3.64 [[ 9.11931988e-01 4.04796963e-01 6.72269884e-02 6.26112227e+01] [-4.03549219e-01 9.14404655e-01 -3.18143913e-02 -1.37715840e+01] [-7.43510401e-02 1.88316241e-03 9.97230353e-01 -3.64487961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-13.79, Z:-3.65 [[ 9.13193524e-01 4.01328985e-01 7.07999611e-02 6.26375779e+01] [-4.00604759e-01 9.15915990e-01 -2.47735032e-02 -1.37855678e+01] [-7.47891414e-02 -5.73979870e-03 9.97182851e-01 -3.64548070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.67, Y:-13.80, Z:-3.65 [[ 9.12626007e-01 4.03751979e-01 6.40164875e-02 6.26700695e+01] [-4.02018588e-01 9.14819742e-01 -3.85472967e-02 -1.37953410e+01] [-7.41270939e-02 9.44344760e-03 9.97204089e-01 -3.65262640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.70, Y:-13.81, Z:-3.65 [[ 9.12574599e-01 4.03351887e-01 6.71926736e-02 6.26986840e+01] [-4.02097480e-01 9.15042652e-01 -3.18521869e-02 -1.38133526e+01] [-7.43318020e-02 2.04949192e-03 9.97231459e-01 -3.65254203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.73, Y:-13.83, Z:-3.66 [[ 9.12957161e-01 4.02494295e-01 6.71384044e-02 6.27273654e+01] [-4.01238900e-01 9.15420024e-01 -3.18358943e-02 -1.38265663e+01] [-7.42736057e-02 2.12626810e-03 9.97235634e-01 -3.65580950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.76, Y:-13.84, Z:-3.66 [[ 9.12990431e-01 4.02455237e-01 6.69197692e-02 6.27567056e+01] [-4.01206353e-01 9.15437161e-01 -3.17532255e-02 -1.38403675e+01] [-7.40400954e-02 2.14175446e-03 9.97252965e-01 -3.65853258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.79, Y:-13.85, Z:-3.66 [[ 9.12928631e-01 4.02598483e-01 6.69012447e-02 6.27858020e+01] [-4.01349000e-01 9.15374152e-01 -3.17669888e-02 -1.38543161e+01] [-7.40290116e-02 2.15024590e-03 9.97253770e-01 -3.66154610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.82, Y:-13.87, Z:-3.66 [[ 9.12844542e-01 4.03030105e-01 6.54337519e-02 6.28155444e+01] [-4.01834581e-01 9.15184342e-01 -3.10900328e-02 -1.38680145e+01] [-7.24141643e-02 2.08682248e-03 9.97372465e-01 -3.66426372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.85, Y:-13.88, Z:-3.67 [[ 9.12532176e-01 4.03769673e-01 6.52309712e-02 6.28452813e+01] [-4.02581803e-01 9.14858393e-01 -3.10163258e-02 -1.38824493e+01] [-7.22005532e-02 2.04259328e-03 9.97388043e-01 -3.66722939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.87, Y:-13.90, Z:-3.67 [[ 9.12544665e-01 4.03862667e-01 6.44762008e-02 6.28742698e+01] [-4.02701792e-01 9.14817396e-01 -3.06659023e-02 -1.38965414e+01] [-7.13687633e-02 2.01932392e-03 9.97447955e-01 -3.66969048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.90, Y:-13.91, Z:-3.67 [[ 9.12012022e-01 4.05152918e-01 6.39154480e-02 6.29041386e+01] [-4.04013918e-01 9.14246918e-01 -3.04191950e-02 -1.39108356e+01] [-7.07589269e-02 1.91994098e-03 9.97491598e-01 -3.67226460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:62.93, Y:-13.92, Z:-3.68 [[ 9.11581203e-01 4.06114672e-01 6.39576694e-02 6.29332733e+01] [-4.04974984e-01 9.13820217e-01 -3.04610049e-02 -1.39242149e+01] [-7.08164724e-02 1.86642338e-03 9.97487616e-01 -3.67504465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.96, Y:-13.94, Z:-3.68 [[ 9.11043871e-01 4.07334839e-01 6.38544755e-02 6.29628945e+01] [-4.06200408e-01 9.13277141e-01 -3.04317691e-02 -1.39378706e+01] [-7.07127526e-02 1.78696277e-03 9.97495119e-01 -3.67772158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:-13.95, Z:-3.68 [[ 9.10544805e-01 4.08598127e-01 6.28945880e-02 6.29924763e+01] [-4.07419817e-01 9.12710349e-01 -3.11273351e-02 -1.39513627e+01] [-7.01231122e-02 2.71833175e-03 9.97534641e-01 -3.68090908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:-13.96, Z:-3.68 [[ 9.09624016e-01 4.11021622e-01 6.03769466e-02 6.30209039e+01] [-4.09740158e-01 9.11611174e-01 -3.28339750e-02 -1.39629120e+01] [-6.85357728e-02 5.12771258e-03 9.97635482e-01 -3.68442631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.05, Y:-13.98, Z:-3.69 [[ 9.09416381e-01 4.11505258e-01 6.02101965e-02 6.30509574e+01] [-4.10235969e-01 9.11393543e-01 -3.26842539e-02 -1.39775309e+01] [-6.83249267e-02 5.02320758e-03 9.97650476e-01 -3.68727303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.08, Y:-14.00, Z:-3.69 [[ 9.08817867e-01 4.12045168e-01 6.53365476e-02 6.30775399e+01] [-4.11197592e-01 9.11159326e-01 -2.65560303e-02 -1.39956864e+01] [-7.04742887e-02 -2.73163618e-03 9.97509856e-01 -3.68583267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:-14.01, Z:-3.69 [[ 9.08484718e-01 4.13349256e-01 6.16271770e-02 6.31075128e+01] [-4.12040290e-01 9.10560000e-01 -3.32157345e-02 -1.40065377e+01] [-6.98449415e-02 4.78310731e-03 9.97546393e-01 -3.69061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.13, Y:-14.03, Z:-3.69 [[ 9.08267230e-01 4.12810059e-01 6.81064973e-02 6.31342507e+01] [-4.12114884e-01 9.10799250e-01 -2.46180318e-02 -1.40261905e+01] [-7.21939178e-02 -5.70794968e-03 9.97374282e-01 -3.68894879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:63.17, Y:-14.03, Z:-3.70 [[ 9.08221135e-01 4.13850210e-01 6.21480029e-02 6.31651835e+01] [-4.12432349e-01 9.10325771e-01 -3.47353941e-02 -1.40343033e+01] [-7.09501788e-02 5.91557221e-03 9.97462319e-01 -3.69571596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55361786499999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:63.19, Y:-14.05, Z:-3.69 [[ 9.08293345e-01 4.12846590e-01 6.75343759e-02 6.31929451e+01] [-4.11939358e-01 9.10796149e-01 -2.75016475e-02 -1.40524899e+01] [-7.28640109e-02 -2.84050407e-03 9.97337840e-01 -3.69494816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.22, Y:-14.06, Z:-3.70 [[ 9.08109728e-01 4.13489149e-01 6.60563803e-02 6.32219445e+01] [-4.12282528e-01 9.10507873e-01 -3.15995374e-02 -1.40642479e+01] [-7.32109202e-02 1.46195584e-03 9.97315408e-01 -3.69894730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.25, Y:-14.08, Z:-3.70 [[ 9.08413834e-01 4.13037211e-01 6.46882380e-02 6.32516102e+01] [-4.11642745e-01 9.10703326e-01 -3.42009180e-02 -1.40769667e+01] [-7.30380453e-02 4.44014317e-03 9.97319271e-01 -3.70223858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.28, Y:-14.09, Z:-3.70 [[ 9.08710223e-01 4.11858857e-01 6.79559547e-02 6.32803785e+01] [-4.10830858e-01 9.11246484e-01 -2.91178968e-02 -1.40942172e+01] [-7.39170884e-02 -1.45867271e-03 9.97263323e-01 -3.70195128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.31, Y:-14.11, Z:-3.71 [[ 9.09832826e-01 4.09851090e-01 6.50100936e-02 6.33104805e+01] [-4.08494515e-01 9.12143793e-01 -3.35549167e-02 -1.41050063e+01] [-7.30510726e-02 3.97309808e-03 9.97320287e-01 -3.70733358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.34, Y:-14.12, Z:-3.71 [[ 9.10284723e-01 4.08529484e-01 6.69730125e-02 6.33387655e+01] [-4.07436985e-01 9.12745117e-01 -2.98572281e-02 -1.41208030e+01] [-7.33268481e-02 -1.08703625e-04 9.97307957e-01 -3.70812851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:63.37, Y:-14.13, Z:-3.71 [[ 9.10934777e-01 4.07219996e-01 6.61037610e-02 6.33682921e+01] [-4.05988142e-01 9.13327790e-01 -3.17171220e-02 -1.41338308e+01] [-7.32902482e-02 2.05488630e-03 9.97308536e-01 -3.71115501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-14.15, Z:-3.72 [[ 9.12640989e-01 4.04004676e-01 6.21823699e-02 6.33991684e+01] [-4.02506800e-01 9.14726959e-01 -3.55368412e-02 -1.41450543e+01] [-7.12369401e-02 7.40355112e-03 9.97431945e-01 -3.71609558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.43, Y:-14.16, Z:-3.72 [[ 9.13633613e-01 4.02070261e-01 6.01092819e-02 6.34280917e+01] [-4.00620028e-01 9.15574563e-01 -3.50258775e-02 -1.41579476e+01] [-6.91173932e-02 7.91983688e-03 9.97577096e-01 -3.71944298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617864999996 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:63.46, Y:-14.17, Z:-3.72 [[ 9.14100948e-01 4.00966982e-01 6.03733105e-02 6.34576854e+01] [-3.99426264e-01 9.16048003e-01 -3.62590151e-02 -1.41714290e+01] [-6.98435184e-02 9.02971422e-03 9.97517091e-01 -3.72384178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.48, Y:-14.19, Z:-3.72 [[ 9.14096220e-01 3.98839004e-01 7.31816167e-02 6.34798021e+01] [-3.98579823e-01 9.16942024e-01 -1.87469723e-02 -1.41947198e+01] [-7.45803235e-02 -1.20321794e-02 9.97142418e-01 -3.71935771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:63.51, Y:-14.20, Z:-3.73 [[ 9.15016164e-01 3.98764486e-01 6.10925898e-02 6.35143098e+01] [-3.97015316e-01 9.16981802e-01 -3.90283799e-02 -1.41977587e+01] [-7.15839249e-02 1.14569046e-02 9.97368779e-01 -3.73009068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.54, Y:-14.22, Z:-3.73 [[ 9.14883927e-01 3.97571643e-01 7.01725624e-02 6.35396809e+01] [-3.96858782e-01 9.17554638e-01 -2.44252735e-02 -1.42197317e+01] [-7.40979562e-02 -5.50230749e-03 9.97235788e-01 -3.72568218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94361786499999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:63.57, Y:-14.22, Z:-3.74 [[ 9.14835296e-01 3.99432361e-01 5.94152387e-02 6.35717801e+01] [-3.97612206e-01 9.16666522e-01 -4.03363351e-02 -1.42236716e+01] [-7.05755978e-02 1.32768789e-02 9.97418072e-01 -3.73562365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.973617864999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:63.60, Y:-14.25, Z:-3.73 [[ 9.14765441e-01 3.97669164e-01 7.11577436e-02 6.35971865e+01] [-3.97129289e-01 9.17494352e-01 -2.21910231e-02 -1.42475451e+01] [-7.41115135e-02 -7.95924304e-03 9.97218198e-01 -3.73008748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617864999995 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:63.64, Y:-14.24, Z:-3.76 [[ 9.13551147e-01 4.02636364e-01 5.75174713e-02 6.36373925e+01] [-3.99011195e-01 9.14630000e-01 -6.51308618e-02 -1.42390789e+01] [-7.88312582e-02 3.65502586e-02 9.96217703e-01 -3.75878806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.65, Y:-14.28, Z:-3.73 [[ 9.13300806e-01 3.99190161e-01 8.08013206e-02 6.36499446e+01] [-4.00358911e-01 9.16356473e-01 -1.88576219e-03 -1.42834843e+01] [-7.47955909e-02 -3.06272606e-02 9.96728444e-01 -3.72693195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:63.69, Y:-14.28, Z:-3.74 [[ 9.11807482e-01 4.05269459e-01 6.60589303e-02 6.36865898e+01] [-4.04019356e-01 9.14194142e-01 -3.18971799e-02 -1.42800236e+01] [-7.33176399e-02 2.39500074e-03 9.97305764e-01 -3.74127874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:63.72, Y:-14.29, Z:-3.74 [[ 9.10977058e-01 4.07075184e-01 6.64122986e-02 6.37154153e+01] [-4.05814761e-01 9.13391802e-01 -3.20904300e-02 -1.42930804e+01] [-7.37236668e-02 2.28255445e-03 9.97276096e-01 -3.74409868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.75, Y:-14.29, Z:-3.76 [[ 9.11371522e-01 4.07544172e-01 5.75299570e-02 6.37475797e+01] [-4.04882764e-01 9.12851713e-01 -5.26469081e-02 -1.42903341e+01] [-7.39722603e-02 2.46880047e-02 9.96954667e-01 -3.76088897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.153617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.77, Y:-14.33, Z:-3.74 [[ 9.09577090e-01 4.08599982e-01 7.56014024e-02 6.37693292e+01] [-4.08937339e-01 9.12487810e-01 -1.16726366e-02 -1.43299546e+01] [-7.37547972e-02 -2.02990735e-02 9.97069796e-01 -3.74099953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.80, Y:-14.33, Z:-3.75 [[ 9.08499927e-01 4.12752388e-01 6.52943321e-02 6.38042233e+01] [-4.11543930e-01 9.10841391e-01 -3.16157324e-02 -1.43307309e+01] [-7.25222493e-02 1.85140450e-03 9.97365076e-01 -3.75203654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.213617864999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:63.83, Y:-14.34, Z:-3.76 [[ 9.08081296e-01 4.13673300e-01 6.52898248e-02 6.38341113e+01] [-4.12465787e-01 9.10423621e-01 -3.16355131e-02 -1.43435716e+01] [-7.25281658e-02 1.79779878e-03 9.97364744e-01 -3.75524656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.86, Y:-14.36, Z:-3.76 [[ 9.07863182e-01 4.14154274e-01 6.52738876e-02 6.38643057e+01] [-4.12946996e-01 9.10204962e-01 -3.16497392e-02 -1.43570379e+01] [-7.25204911e-02 1.77897715e-03 9.97365336e-01 -3.75768722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.89, Y:-14.37, Z:-3.76 [[ 9.07623845e-01 4.14554415e-01 6.60574950e-02 6.38937098e+01] [-4.13317297e-01 9.10022767e-01 -3.20526916e-02 -1.43691799e+01] [-7.34014092e-02 1.78908192e-03 9.97300874e-01 -3.75972784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30361786499999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:63.92, Y:-14.37, Z:-3.78 [[ 9.09448162e-01 4.10477665e-01 6.64238463e-02 6.39224870e+01] [-4.08051804e-01 9.11731425e-01 -4.73237133e-02 -1.43671421e+01] [-7.99860354e-02 1.59340938e-02 9.96668620e-01 -3.77592100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:-14.40, Z:-3.76 [[ 9.07585821e-01 4.13813397e-01 7.10383637e-02 6.39478471e+01] [-4.13239847e-01 9.10324560e-01 -2.32814022e-02 -1.43998281e+01] [-7.43021234e-02 -8.22601199e-03 9.97201849e-01 -3.76138999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.98, Y:-14.40, Z:-3.78 [[ 9.09313291e-01 4.10326253e-01 6.91498692e-02 6.39805190e+01] [-4.08395263e-01 9.11896458e-01 -4.07204879e-02 -1.43999466e+01] [-7.97662061e-02 8.78720180e-03 9.96774868e-01 -3.77647320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:-14.43, Z:-3.77 [[ 9.08340083e-01 4.11889309e-01 7.25636979e-02 6.40077381e+01] [-4.11410025e-01 9.11181697e-01 -2.21292894e-02 -1.44268604e+01] [-7.52335311e-02 -9.75251221e-03 9.97118250e-01 -3.76626612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:-14.43, Z:-3.77 [[ 9.08473857e-01 4.12476242e-01 6.73691368e-02 6.40406280e+01] [-4.11177465e-01 9.10966001e-01 -3.27725108e-02 -1.44345859e+01] [-7.48888753e-02 2.07229840e-03 9.97189732e-01 -3.77312631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:-14.45, Z:-3.78 [[ 9.08608788e-01 4.12112463e-01 6.77745402e-02 6.40706784e+01] [-4.10795247e-01 9.11130482e-01 -3.29925651e-02 -1.44480551e+01] [-7.53480967e-02 2.13587569e-03 9.97155004e-01 -3.77522253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.10, Y:-14.46, Z:-3.78 [[ 9.08466551e-01 4.12422703e-01 6.77940996e-02 6.41000555e+01] [-4.11103845e-01 9.10990104e-01 -3.30251248e-02 -1.44619471e+01] [-7.53800650e-02 2.13180622e-03 9.97152597e-01 -3.77777828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:-14.48, Z:-3.78 [[ 9.09379958e-01 4.09591367e-01 7.25465636e-02 6.41252164e+01] [-4.09102727e-01 9.12219313e-01 -2.21559110e-02 -1.44768046e+01] [-7.52532463e-02 -9.53085556e-03 9.97118906e-01 -3.77628825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.16, Y:-14.49, Z:-3.77 [[ 9.08100529e-01 4.13283259e-01 6.74564889e-02 6.41562888e+01] [-4.12855246e-01 9.10558619e-01 -2.08218133e-02 -1.44906638e+01] [-7.00283942e-02 -8.94146569e-03 9.97504924e-01 -3.77478846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.573617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.19, Y:-14.50, Z:-3.78 [[ 9.07205241e-01 4.15673332e-01 6.47636654e-02 6.41870468e+01] [-4.14427963e-01 9.09510785e-01 -3.22427422e-02 -1.44973856e+01] [-7.23057003e-02 2.41091078e-03 9.97379603e-01 -3.78270419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:-14.51, Z:-3.78 [[ 9.06231929e-01 4.18024601e-01 6.32386210e-02 6.42162667e+01] [-4.16793994e-01 9.08431392e-01 -3.21740939e-02 -1.45107448e+01] [-7.08975113e-02 2.79971378e-03 9.97479676e-01 -3.78490979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:-14.53, Z:-3.79 [[ 9.05472704e-01 4.19462207e-01 6.45804819e-02 6.42443765e+01] [-4.18509952e-01 9.07771694e-01 -2.82837763e-02 -1.45259033e+01] [-7.04883087e-02 -1.41738690e-03 9.97511599e-01 -3.78536504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.27, Y:-14.53, Z:-3.79 [[ 9.04229928e-01 4.22788453e-01 6.01511447e-02 6.42744373e+01] [-4.21263192e-01 9.06194169e-01 -3.67348809e-02 -1.45340071e+01] [-7.00397001e-02 7.87731552e-03 9.97513102e-01 -3.79275129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.30, Y:-14.55, Z:-3.79 [[ 9.03861064e-01 4.23182931e-01 6.28600311e-02 6.43009584e+01] [-4.22260486e-01 9.06043365e-01 -2.79553556e-02 -1.45522182e+01] [-6.87841435e-02 -1.27554983e-03 9.97630751e-01 -3.79131276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.33, Y:-14.57, Z:-3.79 [[ 9.03330441e-01 4.24148220e-01 6.39718824e-02 6.43294192e+01] [-4.23203427e-01 9.05591575e-01 -2.83330049e-02 -1.45657543e+01] [-6.99497913e-02 -1.47905401e-03 9.97549417e-01 -3.79416438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:-14.57, Z:-3.81 [[ 9.03057382e-01 4.25985065e-01 5.49917234e-02 6.43614865e+01] [-4.23834207e-01 9.04532575e-01 -4.67481086e-02 -1.45667716e+01] [-6.96558013e-02 1.89088511e-02 9.97391861e-01 -3.80685988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-14.60, Z:-3.79 [[ 9.02304872e-01 4.24427248e-01 7.55475259e-02 6.43810236e+01] [-4.24734620e-01 9.05228093e-01 -1.27515920e-02 -1.45996362e+01] [-7.37998659e-02 -2.05818261e-02 9.97060664e-01 -3.79493545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.42, Y:-14.59, Z:-3.82 [[ 9.02289814e-01 4.27555330e-01 5.54033547e-02 6.44222290e+01] [-4.24864314e-01 9.03633398e-01 -5.41940687e-02 -1.45943277e+01] [-7.32352846e-02 2.53598479e-02 9.96992212e-01 -3.81669025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.45, Y:-14.62, Z:-3.81 [[ 9.02396512e-01 4.25749725e-01 6.64658345e-02 6.44464980e+01] [-4.24504642e-01 9.04840215e-01 -3.25575534e-02 -1.46213504e+01] [-7.40023294e-02 1.16476732e-03 9.97257388e-01 -3.81146499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.47, Y:-14.65, Z:-3.80 [[ 9.03552854e-01 4.22137414e-01 7.34319026e-02 6.44699580e+01] [-4.22561446e-01 9.06274295e-01 -1.04271742e-02 -1.46467928e+01] [-7.09511461e-02 -2.16079879e-02 9.97245722e-01 -3.79966852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:-14.64, Z:-3.82 [[ 9.03152098e-01 4.25453791e-01 5.74922478e-02 6.45077743e+01] [-4.22727836e-01 9.04651373e-01 -5.39172552e-02 -1.46395202e+01] [-7.49497415e-02 2.43919086e-02 9.96888946e-01 -3.82340183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.53, Y:-14.67, Z:-3.80 [[ 9.04158554e-01 4.20642112e-01 7.45487940e-02 6.45251514e+01] [-4.21076539e-01 9.06963648e-01 -1.05588462e-02 -1.46742212e+01] [-7.20545416e-02 -2.18438770e-02 9.97161465e-01 -3.80423492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.56, Y:-14.68, Z:-3.81 [[ 9.03954836e-01 4.22678791e-01 6.48713676e-02 6.45595079e+01] [-4.21522341e-01 9.06279101e-01 -3.12587263e-02 -1.46779400e+01] [-7.20039653e-02 9.11746064e-04 9.97403929e-01 -3.81483811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.59, Y:-14.68, Z:-3.83 [[ 9.03290667e-01 4.24988404e-01 5.87437349e-02 6.45929616e+01] [-4.22142004e-01 9.04854656e-01 -5.50833918e-02 -1.46828568e+01] [-7.65643448e-02 2.49581157e-02 9.96752223e-01 -3.83132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:-14.71, Z:-3.82 [[ 9.02638582e-01 4.24084866e-01 7.34548659e-02 6.46140146e+01] [-4.23039809e-01 9.05613714e-01 -3.00186717e-02 -1.47101793e+01] [-7.92521983e-02 -3.97832123e-03 9.96846659e-01 -3.82449248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-14.73, Z:-3.81 [[ 9.03448980e-01 4.22080345e-01 7.50208214e-02 6.46406889e+01] [-4.22301447e-01 9.06352338e-01 -1.36721468e-02 -1.47322840e+01] [-7.37660413e-02 -1.93293144e-02 9.97088235e-01 -3.81457574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.68, Y:-14.72, Z:-3.84 [[ 9.02834929e-01 4.25970495e-01 5.86364072e-02 6.46768504e+01] [-4.22952605e-01 9.04334480e-01 -5.73606235e-02 -1.47241304e+01] [-7.74608580e-02 2.69867532e-02 9.96630087e-01 -3.84118879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.69, Y:-14.76, Z:-3.82 [[ 9.03952478e-01 4.20738708e-01 7.64778199e-02 6.46946722e+01] [-4.21295627e-01 9.06873731e-01 -9.48845707e-03 -1.47630981e+01] [-7.33478871e-02 -2.36426568e-02 9.97026134e-01 -3.81988948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.73, Y:-14.75, Z:-3.85 [[ 9.03428328e-01 4.24786937e-01 5.80802381e-02 6.47341437e+01] [-4.21834802e-01 9.04899384e-01 -5.66789513e-02 -1.47547739e+01] [-7.66332498e-02 2.67051045e-02 9.96701652e-01 -3.84714777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-14.78, Z:-3.84 [[ 9.03334671e-01 4.23256208e-01 6.95748180e-02 6.47570751e+01] [-4.21867051e-01 9.06008558e-01 -3.43028242e-02 -1.47816648e+01] [-7.75542638e-02 1.63560711e-03 9.96986791e-01 -3.84144010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.79, Y:-14.80, Z:-3.84 [[ 9.04152389e-01 4.21784522e-01 6.78695432e-02 6.47859162e+01] [-4.20457044e-01 9.06694436e-01 -3.34824398e-02 -1.47968286e+01] [-7.56593121e-02 1.73700043e-03 9.97132214e-01 -3.84471344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:-14.82, Z:-3.83 [[ 9.05312574e-01 4.19338922e-01 6.75574700e-02 6.48117873e+01] [-4.19201185e-01 9.07736250e-01 -1.68898661e-02 -1.48187791e+01] [-6.84069427e-02 -1.30295634e-02 9.97572414e-01 -3.83443444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:64.85, Y:-14.82, Z:-3.86 [[ 9.04981641e-01 4.21753387e-01 5.59670432e-02 6.48471059e+01] [-4.19194981e-01 9.06401777e-01 -5.20709707e-02 -1.48161189e+01] [-7.26897357e-02 2.36621689e-02 9.97073871e-01 -3.85763362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:-14.84, Z:-3.85 [[ 9.05843087e-01 4.18060706e-01 6.83633510e-02 6.48683334e+01] [-4.17076487e-01 9.08415793e-01 -2.87741175e-02 -1.48438924e+01] [-7.41316756e-02 -2.44791088e-03 9.97245457e-01 -3.85094355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.90, Y:-14.86, Z:-3.85 [[ 9.06314105e-01 4.17075215e-01 6.81396168e-02 6.48982714e+01] [-4.15969164e-01 9.08871601e-01 -3.03655619e-02 -1.48586132e+01] [-7.45948859e-02 -8.23242384e-04 9.97213581e-01 -3.85396650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.93, Y:-14.87, Z:-3.86 [[ 9.06513995e-01 4.16865888e-01 6.67473485e-02 6.49266764e+01] [-4.15563130e-01 9.08965389e-01 -3.30031151e-02 -1.48718688e+01] [-7.44289025e-02 2.18004861e-03 9.97223940e-01 -3.85773370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.96, Y:-14.89, Z:-3.86 [[ 9.06735661e-01 4.16796692e-01 6.41167631e-02 6.49563722e+01] [-4.15317555e-01 9.08982594e-01 -3.55242618e-02 -1.48852270e+01] [-7.30874164e-02 5.58229773e-03 9.97309915e-01 -3.86224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:64.98, Y:-14.90, Z:-3.86 [[ 9.06616505e-01 4.16514950e-01 6.75411645e-02 6.49844240e+01] [-4.15465099e-01 9.09128017e-01 -2.95803961e-02 -1.49038142e+01] [-7.37242422e-02 -1.24292123e-03 9.97277891e-01 -3.86310031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.02, Y:-14.91, Z:-3.87 [[ 9.06332549e-01 4.18020707e-01 6.18061387e-02 6.50151402e+01] [-4.16414972e-01 9.08399798e-01 -3.75283639e-02 -1.49134706e+01] [-7.18323172e-02 8.27617619e-03 9.97382386e-01 -3.86927756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.04, Y:-14.92, Z:-3.87 [[ 9.07721783e-01 4.14183096e-01 6.70337825e-02 6.50398779e+01] [-4.12826141e-01 9.10189141e-01 -3.36200051e-02 -1.49235927e+01] [-7.49382587e-02 2.84431324e-03 9.97184119e-01 -3.87257200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:-14.95, Z:-3.86 [[ 9.06044749e-01 4.16764005e-01 7.34212281e-02 6.50633987e+01] [-4.16878473e-01 9.08846695e-01 -1.44922257e-02 -1.49509008e+01] [-7.27684785e-02 -1.74771244e-02 9.97195717e-01 -3.86245138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:-14.96, Z:-3.87 [[ 9.05158299e-01 4.20085991e-01 6.49323825e-02 6.50955419e+01] [-4.19202664e-01 9.07480934e-01 -2.73400944e-02 -1.49596932e+01] [-7.04100898e-02 -2.47271441e-03 9.97515065e-01 -3.86807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.13, Y:-14.97, Z:-3.87 [[ 9.04466152e-01 4.22723953e-01 5.69687598e-02 6.51275736e+01] [-4.21369683e-01 9.06229292e-01 -3.45841023e-02 -1.49710169e+01] [-6.62462873e-02 7.27524163e-03 9.97776779e-01 -3.87223268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.15, Y:-14.99, Z:-3.87 [[ 9.03328756e-01 4.23626026e-01 6.73657888e-02 6.51506915e+01] [-4.23331201e-01 9.05769376e-01 -1.93010941e-02 -1.49935513e+01] [-6.91943142e-02 -1.10828070e-02 9.97541637e-01 -3.86847489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:-15.00, Z:-3.88 [[ 9.02428966e-01 4.26352220e-01 6.20140746e-02 6.51824074e+01] [-4.25226621e-01 9.04555804e-01 -3.10019120e-02 -1.50030955e+01] [-6.93129251e-02 1.60698797e-03 9.97593673e-01 -3.87553061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.21, Y:-15.02, Z:-3.87 [[ 9.01965544e-01 4.27151768e-01 6.32417913e-02 6.52087777e+01] [-4.26428413e-01 9.04170034e-01 -2.52063266e-02 -1.50211496e+01] [-6.79482596e-02 -4.23285865e-03 9.97679867e-01 -3.87394338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.24, Y:-15.03, Z:-3.88 [[ 9.01486843e-01 4.28475764e-01 6.10736625e-02 6.52379764e+01] [-4.27428606e-01 9.03552830e-01 -2.99511254e-02 -1.50342942e+01] [-6.80166119e-02 8.95915112e-04 9.97683786e-01 -3.87807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.27, Y:-15.05, Z:-3.88 [[ 9.01183311e-01 4.29196781e-01 6.04877122e-02 6.52662695e+01] [-4.28246491e-01 9.03210989e-01 -2.85455985e-02 -1.50510849e+01] [-6.68848454e-02 -1.78833553e-04 9.97760685e-01 -3.87908860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.29, Y:-15.07, Z:-3.88 [[ 9.01163607e-01 4.29053075e-01 6.17868294e-02 6.52931619e+01] [-4.28236496e-01 9.03275796e-01 -2.65770604e-02 -1.50663173e+01] [-6.72135170e-02 -2.50909569e-03 9.97735460e-01 -3.88095838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:-15.06, Z:-3.91 [[ 9.00706132e-01 4.31317767e-01 5.18984343e-02 6.53283863e+01] [-4.28127037e-01 9.01557908e-01 -6.24546064e-02 -1.50630507e+01] [-7.37272252e-02 3.40341240e-02 9.96697534e-01 -3.90653145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-15.10, Z:-3.89 [[ 9.01748493e-01 4.26383393e-01 7.10412335e-02 6.53447659e+01] [-4.26341331e-01 9.04411547e-01 -1.65173257e-02 -1.50994948e+01] [-7.12932253e-02 -1.53933405e-02 9.97336614e-01 -3.88674634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:-15.11, Z:-3.89 [[ 9.01579387e-01 4.27880754e-01 6.38174680e-02 6.53762573e+01] [-4.26799939e-01 9.03835180e-01 -3.03937303e-02 -1.51075492e+01] [-7.06853649e-02 1.65069230e-04 9.97498648e-01 -3.89451301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.41, Y:-15.12, Z:-3.91 [[ 9.00854775e-01 4.30104632e-01 5.89124873e-02 6.54086920e+01] [-4.27688965e-01 9.02571234e-01 -4.94703622e-02 -1.51153488e+01] [-7.44501482e-02 1.93693913e-02 9.97036610e-01 -3.90990048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.43, Y:-15.15, Z:-3.89 [[ 9.02052324e-01 4.25734348e-01 7.10765062e-02 6.54286034e+01] [-4.25928927e-01 9.04660971e-01 -1.31558298e-02 -1.51497658e+01] [-6.99010298e-02 -1.84062932e-02 9.97384106e-01 -3.89238054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.46, Y:-15.15, Z:-3.91 [[ 9.02489871e-01 4.26393881e-01 6.08300176e-02 6.54609908e+01] [-4.24908654e-01 9.04511805e-01 -3.62081532e-02 -1.51513577e+01] [-7.04604039e-02 6.83029057e-03 9.97491192e-01 -3.90654878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.49, Y:-15.16, Z:-3.92 [[ 9.01599330e-01 4.28572357e-01 5.86888598e-02 6.54922949e+01] [-4.26372913e-01 9.03348346e-01 -4.65607598e-02 -1.51641053e+01] [-7.29711391e-02 1.69558097e-02 9.97189908e-01 -3.91750163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.51, Y:-15.19, Z:-3.91 [[ 9.02864020e-01 4.24247177e-01 6.96483570e-02 6.55123963e+01] [-4.24075316e-01 9.05448597e-01 -1.79712364e-02 -1.51918808e+01] [-7.06872534e-02 -1.33105662e-02 9.97409716e-01 -3.90552147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.55, Y:-15.19, Z:-3.92 [[ 9.03068405e-01 4.25492068e-01 5.85145834e-02 6.55453766e+01] [-4.23481749e-01 9.04839949e-01 -4.39075803e-02 -1.51907159e+01] [-7.16286598e-02 1.48716903e-02 9.97320494e-01 -3.92222845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.57, Y:-15.21, Z:-3.92 [[ 9.02750602e-01 4.24851727e-01 6.73970367e-02 6.55700031e+01] [-4.23872692e-01 9.05259632e-01 -2.89299053e-02 -1.52142814e+01] [-7.33027369e-02 -2.45127398e-03 9.97306723e-01 -3.91828330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.60, Y:-15.23, Z:-3.92 [[ 9.00795700e-01 4.29613459e-01 6.32406742e-02 6.56007148e+01] [-4.28010680e-01 9.02986497e-01 -3.77126456e-02 -1.52300633e+01] [-7.33073350e-02 6.90370504e-03 9.97285502e-01 -3.92446027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.63, Y:-15.25, Z:-3.93 [[ 9.00459230e-01 4.29977294e-01 6.55187110e-02 6.56282149e+01] [-4.28714477e-01 9.02838287e-01 -3.29685297e-02 -1.52483989e+01] [-7.33285200e-02 1.59799700e-03 9.97306560e-01 -3.92545388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.66, Y:-15.26, Z:-3.93 [[ 9.00030097e-01 4.30921138e-01 6.52134737e-02 6.56557051e+01] [-4.29670909e-01 9.02388286e-01 -3.28373429e-02 -1.52634420e+01] [-7.29981800e-02 1.53426439e-03 9.97330894e-01 -3.92828216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.68, Y:-15.28, Z:-3.93 [[ 8.99468097e-01 4.32253265e-01 6.41424747e-02 6.56838678e+01] [-4.30972812e-01 9.01749226e-01 -3.33281876e-02 -1.52776528e+01] [-7.22466449e-02 2.33397874e-03 9.97384066e-01 -3.93146543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:-15.29, Z:-3.93 [[ 8.98789562e-01 4.33794935e-01 6.32398457e-02 6.57123290e+01] [-4.32505902e-01 9.01007316e-01 -3.35329742e-02 -1.52924401e+01] [-7.15259981e-02 2.78748067e-03 9.97434841e-01 -3.93447169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.74, Y:-15.31, Z:-3.94 [[ 8.98527156e-01 4.34008183e-01 6.54663837e-02 6.57404064e+01] [-4.32967071e-01 9.00907956e-01 -3.00727552e-02 -1.53097689e+01] [-7.20310078e-02 -1.32360121e-03 9.97401515e-01 -3.93526190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.77, Y:-15.32, Z:-3.94 [[ 8.98165029e-01 4.34859335e-01 6.47837926e-02 6.57698016e+01] [-4.33630522e-01 9.00497497e-01 -3.26929394e-02 -1.53234310e+01] [-7.25544730e-02 1.27142509e-03 9.97363641e-01 -3.93902784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.80, Y:-15.34, Z:-3.94 [[ 8.97990921e-01 4.35222546e-01 6.47583294e-02 6.57979084e+01] [-4.33993985e-01 9.00322022e-01 -3.27028734e-02 -1.53386880e+01] [-7.25363778e-02 1.26215798e-03 9.97364969e-01 -3.94190639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.83, Y:-15.35, Z:-3.94 [[ 8.98008534e-01 4.35163376e-01 6.49115543e-02 6.58256624e+01] [-4.33927292e-01 9.00350584e-01 -3.28013767e-02 -1.53533688e+01] [-7.27171137e-02 1.28902121e-03 9.97351773e-01 -3.94456216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:-15.37, Z:-3.95 [[ 8.98062907e-01 4.34992019e-01 6.53066516e-02 6.58550356e+01] [-4.33738839e-01 9.00433326e-01 -3.30218815e-02 -1.53691048e+01] [-7.31685405e-02 1.32969564e-03 9.97318704e-01 -3.94719464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.88, Y:-15.39, Z:-3.95 [[ 8.98719355e-01 4.33478707e-01 6.63304751e-02 6.58838069e+01] [-4.32180020e-01 9.01162566e-01 -3.35627707e-02 -1.53854991e+01] [-7.43232875e-02 1.49680554e-03 9.97233076e-01 -3.94974183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.91, Y:-15.40, Z:-3.95 [[ 8.99052155e-01 4.32700731e-01 6.68976765e-02 6.59127279e+01] [-4.31375784e-01 9.01536206e-01 -3.38733296e-02 -1.54004201e+01] [-7.49676920e-02 1.59585236e-03 9.97184686e-01 -3.95239567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:-15.41, Z:-3.96 [[ 8.98835947e-01 4.33087879e-01 6.72965810e-02 6.59393355e+01] [-4.31691536e-01 9.01348897e-01 -3.48221632e-02 -1.54134146e+01] [-7.57387559e-02 2.24804763e-03 9.97125161e-01 -3.95558328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.97, Y:-15.43, Z:-3.96 [[ 8.99995596e-01 4.30475754e-01 6.85459862e-02 6.59681548e+01] [-4.29153581e-01 9.02601655e-01 -3.37261985e-02 -1.54287920e+01] [-7.63880314e-02 9.36674718e-04 9.97077726e-01 -3.95797544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.00, Y:-15.44, Z:-3.96 [[ 9.00256747e-01 4.29988310e-01 6.81750856e-02 6.59976542e+01] [-4.28600404e-01 9.02832447e-01 -3.45726368e-02 -1.54434895e+01] [-7.64165090e-02 1.90438033e-03 9.97074165e-01 -3.96125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:-15.46, Z:-3.96 [[ 9.00684954e-01 4.29071317e-01 6.82965538e-02 6.60272801e+01] [-4.27674012e-01 9.03268386e-01 -3.46578007e-02 -1.54583973e+01] [-7.65607861e-02 2.00709845e-03 9.97062896e-01 -3.96416350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:-15.47, Z:-3.97 [[ 9.00959885e-01 4.28531031e-01 6.80620397e-02 6.60563170e+01] [-4.27139997e-01 9.03524699e-01 -3.45621298e-02 -1.54733026e+01] [-7.63066791e-02 2.06707313e-03 9.97082252e-01 -3.96670296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.08, Y:-15.49, Z:-3.97 [[ 9.01712611e-01 4.26927116e-01 6.81733430e-02 6.60844272e+01] [-4.25525092e-01 9.04283292e-01 -3.46428116e-02 -1.54872361e+01] [-7.64379706e-02 2.22839203e-03 9.97071848e-01 -3.96929706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:-15.50, Z:-3.97 [[ 9.01947592e-01 4.26451436e-01 6.80420058e-02 6.61130309e+01] [-4.25051764e-01 9.04507575e-01 -3.45983185e-02 -1.55010119e+01] [-7.62990123e-02 2.28449543e-03 9.97082365e-01 -3.97224352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.14, Y:-15.50, Z:-3.99 [[ 9.03852221e-01 4.22349954e-01 6.83496800e-02 6.61406306e+01] [-4.20091204e-01 9.06350255e-01 -4.53055737e-02 -1.55015286e+01] [-8.10835569e-02 1.22364441e-02 9.96632192e-01 -3.98512092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.17, Y:-15.53, Z:-3.97 [[ 9.02564072e-01 4.24189771e-01 7.37640417e-02 6.61679909e+01] [-4.23502745e-01 9.05535948e-01 -2.54964927e-02 -1.55320540e+01] [-7.76113429e-02 -8.22705587e-03 9.96949745e-01 -3.97399734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.20, Y:-15.54, Z:-3.98 [[ 9.02655153e-01 4.24838457e-01 6.87456166e-02 6.62003112e+01] [-4.23401214e-01 9.05265754e-01 -3.50046693e-02 -1.55407711e+01] [-7.71043821e-02 2.49016764e-03 9.97019916e-01 -3.98052015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:66.23, Y:-15.55, Z:-3.98 [[ 9.02612693e-01 4.24952257e-01 6.85995991e-02 6.62298375e+01] [-4.23519666e-01 9.05212322e-01 -3.49534604e-02 -1.55543977e+01] [-7.69507543e-02 2.49615779e-03 9.97031770e-01 -3.98331147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.26, Y:-15.57, Z:-3.99 [[ 9.02750424e-01 4.24614497e-01 6.88781597e-02 6.62600163e+01] [-4.23167415e-01 9.05370638e-01 -3.51190373e-02 -1.55679334e+01] [-7.72723158e-02 2.55673306e-03 9.97006746e-01 -3.98599943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.29, Y:-15.58, Z:-3.99 [[ 9.02749631e-01 4.24691172e-01 6.84142773e-02 6.62890506e+01] [-4.23110585e-01 9.05327930e-01 -3.68615254e-02 -1.55782137e+01] [-7.75921204e-02 4.32992349e-03 9.96975784e-01 -3.98891201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.32, Y:-15.59, Z:-3.99 [[ 9.02886952e-01 4.23981119e-01 7.09588777e-02 6.63179253e+01] [-4.22616875e-01 9.05670755e-01 -3.39920599e-02 -1.55937734e+01] [-7.86773720e-02 7.02568178e-04 9.96899883e-01 -3.98957672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.35, Y:-15.61, Z:-3.99 [[ 9.02838052e-01 4.24236120e-01 7.00511716e-02 6.63480082e+01] [-4.22733938e-01 9.05547637e-01 -3.57700227e-02 -1.56080501e+01] [-7.86096086e-02 2.68152999e-03 9.96901870e-01 -3.99313199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.38, Y:-15.62, Z:-4.00 [[ 9.02532565e-01 4.24795123e-01 7.05979611e-02 6.63778181e+01] [-4.23270321e-01 9.05285600e-01 -3.60585436e-02 -1.56219236e+01] [-7.92288111e-02 2.66198824e-03 9.96852903e-01 -3.99581137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:66.41, Y:-15.63, Z:-4.00 [[ 9.01916230e-01 4.26118382e-01 7.04999166e-02 6.64075293e+01] [-4.24599927e-01 9.04663777e-01 -3.60326602e-02 -1.56335086e+01] [-7.91328997e-02 2.56418163e-03 9.96860777e-01 -3.99778346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94361786499998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:66.44, Y:-15.65, Z:-4.00 [[ 9.01345375e-01 4.27379890e-01 7.01636950e-02 6.64369918e+01] [-4.25878614e-01 9.04068806e-01 -3.58747828e-02 -1.56458925e+01] [-7.87649687e-02 2.45435236e-03 9.96890192e-01 -4.00065054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.47, Y:-15.66, Z:-4.00 [[ 9.00436662e-01 4.29209694e-01 7.06601421e-02 6.64670536e+01] [-4.27690952e-01 9.03201864e-01 -3.61502717e-02 -1.56586299e+01] [-7.93364192e-02 2.33032656e-03 9.96845175e-01 -4.00373339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.50, Y:-15.67, Z:-4.00 [[ 9.00007958e-01 4.30613001e-01 6.75138389e-02 6.64974922e+01] [-4.29229070e-01 9.02534166e-01 -3.45613046e-02 -1.56709881e+01] [-7.58160934e-02 2.12654694e-03 9.97119550e-01 -4.00450695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:-15.68, Z:-4.01 [[ 8.99237555e-01 4.32013185e-01 6.88217091e-02 6.65268658e+01] [-4.30156946e-01 9.01840885e-01 -4.05958092e-02 -1.56761091e+01] [-7.96041559e-02 6.90114005e-03 9.96802665e-01 -4.01368071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.56, Y:-15.70, Z:-4.01 [[ 8.97374443e-01 4.35410853e-01 7.16693617e-02 6.65553809e+01] [-4.34356624e-01 9.00224046e-01 -3.05121420e-02 -1.56992760e+01] [-7.78038005e-02 -3.74924558e-03 9.96961640e-01 -4.00916434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.59, Y:-15.71, Z:-4.01 [[ 8.96745064e-01 4.37106235e-01 6.91840198e-02 6.65852144e+01] [-4.35667118e-01 8.99408323e-01 -3.54799919e-02 -1.57099926e+01] [-7.77332090e-02 1.67530508e-03 9.96972789e-01 -4.01311562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.61, Y:-15.72, Z:-4.02 [[ 8.96235796e-01 4.38138940e-01 6.92507617e-02 6.66147809e+01] [-4.36699002e-01 8.98905840e-01 -3.55284753e-02 -1.57237485e+01] [-7.78163226e-02 1.60015277e-03 9.96966428e-01 -4.01554300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15361786499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:66.65, Y:-15.74, Z:-4.02 [[ 8.95336512e-01 4.39985346e-01 6.91767756e-02 6.66456173e+01] [-4.38552137e-01 8.98003767e-01 -3.55141976e-02 -1.57366904e+01] [-7.77467315e-02 1.45953502e-03 9.96972074e-01 -4.01750671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:66.68, Y:-15.75, Z:-4.02 [[ 8.94988935e-01 4.40615261e-01 6.96634655e-02 6.66752924e+01] [-4.39161792e-01 8.97694897e-01 -3.57881480e-02 -1.57503794e+01] [-7.83053417e-02 1.43646405e-03 9.96928388e-01 -4.02019203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21361786499999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:66.70, Y:-15.76, Z:-4.02 [[ 8.94768828e-01 4.41067953e-01 6.96261886e-02 6.67047386e+01] [-4.39615505e-01 8.97472590e-01 -3.57932588e-02 -1.57636629e+01] [-7.82748552e-02 1.41794014e-03 9.96930808e-01 -4.02204806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:66.73, Y:-15.78, Z:-4.02 [[ 8.94887885e-01 4.40792313e-01 6.98413216e-02 6.67346032e+01] [-4.39328249e-01 8.97607924e-01 -3.59263743e-02 -1.57784702e+01] [-7.85261933e-02 1.46681161e-03 9.96910972e-01 -4.02457014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27361786499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:66.76, Y:-15.79, Z:-4.03 [[ 8.95226117e-01 4.40087865e-01 6.99490602e-02 6.67636289e+01] [-4.38615254e-01 8.97953374e-01 -3.60055226e-02 -1.57932586e+01] [-7.86565881e-02 1.55235937e-03 9.96900562e-01 -4.02700275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.79, Y:-15.79, Z:-4.04 [[ 8.97135108e-01 4.36559880e-01 6.75579002e-02 6.67932264e+01] [-4.33654717e-01 8.99476874e-01 -5.37116338e-02 -1.57940190e+01] [-8.42151133e-02 1.88897903e-02 9.96268533e-01 -4.04336157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.82, Y:-15.82, Z:-4.04 [[ 8.97547704e-01 4.34454945e-01 7.52131671e-02 6.68180645e+01] [-4.33116929e-01 9.00691464e-01 -3.41264068e-02 -1.58205873e+01] [-8.25702438e-02 -1.94601790e-03 9.96583347e-01 -4.03681627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:66.85, Y:-15.85, Z:-4.03 [[ 8.97554743e-01 4.34422044e-01 7.53191264e-02 6.68459063e+01] [-4.34011366e-01 9.00623969e-01 -2.25964655e-02 -1.58452342e+01] [-7.76506133e-02 -1.24077921e-02 9.96903420e-01 -4.02894910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:-15.85, Z:-4.04 [[ 8.98639324e-01 4.33315123e-01 6.84497613e-02 6.68770016e+01] [-4.31996422e-01 9.01242128e-01 -3.37893207e-02 -1.58521179e+01] [-7.63312322e-02 7.94360349e-04 9.97082199e-01 -4.03577406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:-15.87, Z:-4.04 [[ 8.99522982e-01 4.31638219e-01 6.74303571e-02 6.69070062e+01] [-4.30135619e-01 9.02039945e-01 -3.61564230e-02 -1.58662506e+01] [-7.64313696e-02 3.51933510e-03 9.97068634e-01 -4.04010347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.94, Y:-15.88, Z:-4.04 [[ 9.00062137e-01 4.30463926e-01 6.77418444e-02 6.69358980e+01] [-4.29040404e-01 9.02604322e-01 -3.50680857e-02 -1.58819674e+01] [-7.62396273e-02 2.49946792e-03 9.97086391e-01 -4.04249910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:-15.90, Z:-4.05 [[ 9.01497357e-01 4.27542947e-01 6.71531311e-02 6.69647778e+01] [-4.25984413e-01 9.03983708e-01 -3.67523572e-02 -1.58955565e+01] [-7.64185476e-02 4.52596581e-03 9.97065555e-01 -4.04835900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:-15.91, Z:-4.05 [[ 9.01668779e-01 4.27088220e-01 6.77426357e-02 6.69925839e+01] [-4.25820465e-01 9.04209595e-01 -3.28928378e-02 -1.59135997e+01] [-7.53016847e-02 8.12244227e-04 9.97160467e-01 -4.04695129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:-15.93, Z:-4.05 [[ 9.01936387e-01 4.26726317e-01 6.64485121e-02 6.70221422e+01] [-4.25342413e-01 9.04376438e-01 -3.44541658e-02 -1.59280988e+01] [-7.47969680e-02 2.81209531e-03 9.97194818e-01 -4.05053353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-15.94, Z:-4.06 [[ 9.02456190e-01 4.25917194e-01 6.45551636e-02 6.70521581e+01] [-4.24137141e-01 9.04721602e-01 -3.98310049e-02 -1.59399792e+01] [-7.53691609e-02 8.56549439e-03 9.97118911e-01 -4.05854992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:-15.96, Z:-4.05 [[ 9.02743026e-01 4.24555438e-01 6.93376451e-02 6.70784308e+01] [-4.23531135e-01 9.05398060e-01 -2.95927538e-02 -1.59605804e+01] [-7.53419339e-02 -2.65199943e-03 9.97154231e-01 -4.05404125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:-15.97, Z:-4.06 [[ 9.03241482e-01 4.24401216e-01 6.35486630e-02 6.71108903e+01] [-4.22799737e-01 9.05447210e-01 -3.74930852e-02 -1.59720204e+01] [-7.34520705e-02 6.99695184e-03 9.97274203e-01 -4.06013450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:-15.99, Z:-4.06 [[ 9.03023055e-01 4.24168887e-01 6.80449709e-02 6.71358658e+01] [-4.23025779e-01 9.05582850e-01 -3.11270338e-02 -1.59892132e+01] [-7.48234780e-02 -6.76347663e-04 9.97196565e-01 -4.06017228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:67.17, Y:-16.00, Z:-4.07 [[ 9.03576713e-01 4.23513787e-01 6.46930839e-02 6.71664291e+01] [-4.22188250e-01 9.05884466e-01 -3.36216636e-02 -1.60019288e+01] [-7.28436978e-02 3.06709241e-03 9.97338653e-01 -4.06522791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:67.19, Y:-16.02, Z:-4.07 [[ 9.02509907e-01 4.25680081e-01 6.53631084e-02 6.71942897e+01] [-4.24330697e-01 9.04868937e-01 -3.39950916e-02 -1.60178143e+01] [-7.36160798e-02 2.94533358e-03 9.97282306e-01 -4.06684649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:-16.03, Z:-4.07 [[ 9.02018762e-01 4.26700924e-01 6.54864513e-02 6.72232379e+01] [-4.25348095e-01 9.04388206e-01 -3.40730253e-02 -1.60327887e+01] [-7.37641656e-02 2.87997081e-03 9.97271555e-01 -4.06925141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:-16.05, Z:-4.07 [[ 9.01341976e-01 4.28048571e-01 6.60080490e-02 6.72526428e+01] [-4.26675943e-01 9.03751353e-01 -3.43675877e-02 -1.60479875e+01] [-7.43658604e-02 2.81290288e-03 9.97227059e-01 -4.07161835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:-16.06, Z:-4.07 [[ 9.00110600e-01 4.30518398e-01 6.67444153e-02 6.72815941e+01] [-4.29119820e-01 9.02577880e-01 -3.47757120e-02 -1.60620488e+01] [-7.52136167e-02 2.66063547e-03 9.97163895e-01 -4.07367930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:-16.08, Z:-4.08 [[ 8.99341526e-01 4.32084751e-01 6.69894615e-02 6.73111308e+01] [-4.30679153e-01 9.01829395e-01 -3.49171823e-02 -1.60769642e+01] [-7.55002476e-02 2.55150744e-03 9.97142519e-01 -4.07628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:-16.09, Z:-4.08 [[ 8.98625020e-01 4.33521483e-01 6.73216016e-02 6.73401580e+01] [-4.32104142e-01 9.01139863e-01 -3.51134961e-02 -1.60914797e+01] [-7.58886338e-02 2.46392328e-03 9.97113256e-01 -4.07916011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:-16.11, Z:-4.08 [[ 8.97874788e-01 4.35075398e-01 6.73072260e-02 6.73690158e+01] [-4.33661228e-01 9.00390948e-01 -3.51294748e-02 -1.61061216e+01] [-7.58867872e-02 2.35333547e-03 9.97113663e-01 -4.08169396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.40, Y:-16.12, Z:-4.08 [[ 8.96392828e-01 4.38072083e-01 6.76220906e-02 6.73981493e+01] [-4.36651306e-01 8.98937322e-01 -3.53175417e-02 -1.61217835e+01] [-7.62596501e-02 2.13111697e-03 9.97085716e-01 -4.08376117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.43, Y:-16.14, Z:-4.09 [[ 8.95850238e-01 4.39196572e-01 6.75183163e-02 6.74273976e+01] [-4.37781541e-01 8.98388643e-01 -3.52869328e-02 -1.61366655e+01] [-7.61555885e-02 2.05353458e-03 9.97093832e-01 -4.08654864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.46, Y:-16.15, Z:-4.09 [[ 8.95260649e-01 4.40475107e-01 6.70078303e-02 6.74561364e+01] [-4.39083160e-01 8.97762703e-01 -3.50443740e-02 -1.61507956e+01] [-7.55933052e-02 1.95183916e-03 9.97136822e-01 -4.08918764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:-16.17, Z:-4.09 [[ 8.95117157e-01 4.40808050e-01 6.67348376e-02 6.74852437e+01] [-4.39427345e-01 8.97599324e-01 -3.49150772e-02 -1.61659775e+01] [-7.52919922e-02 1.92797211e-03 9.97159666e-01 -4.09195864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:-16.18, Z:-4.09 [[ 8.95200856e-01 4.40631146e-01 6.67803891e-02 6.75131486e+01] [-4.39246202e-01 8.97686096e-01 -3.49635179e-02 -1.61809193e+01] [-7.53538417e-02 1.96633894e-03 9.97154919e-01 -4.09447015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.54, Y:-16.20, Z:-4.10 [[ 8.95304664e-01 4.40469998e-01 6.64510346e-02 6.75420309e+01] [-4.39097239e-01 8.97765143e-01 -3.48046392e-02 -1.61964573e+01] [-7.49878219e-02 1.98229001e-03 9.97182479e-01 -4.09668245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.57, Y:-16.21, Z:-4.10 [[ 8.95574651e-01 4.39952015e-01 6.62440087e-02 6.75706776e+01] [-4.38584685e-01 8.98018966e-01 -3.47190229e-02 -1.62123326e+01] [-7.47630803e-02 2.03986915e-03 9.97199238e-01 -4.09905313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.60, Y:-16.23, Z:-4.10 [[ 8.95598951e-01 4.39968222e-01 6.58064039e-02 6.75995943e+01] [-4.38617289e-01 8.98011013e-01 -3.45122240e-02 -1.62282370e+01] [-7.42791573e-02 2.04528515e-03 9.97235390e-01 -4.10166760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.63, Y:-16.24, Z:-4.10 [[ 8.95543730e-01 4.40267980e-01 6.45409440e-02 6.76269534e+01] [-4.38967713e-01 8.97864188e-01 -3.38710419e-02 -1.62436657e+01] [-7.28613375e-02 2.00160858e-03 9.97340072e-01 -4.10403655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.66, Y:-16.26, Z:-4.11 [[ 8.95076607e-01 4.41110203e-01 6.52660477e-02 6.76558347e+01] [-4.39781154e-01 8.97450774e-01 -3.42730959e-02 -1.62589641e+01] [-7.36912773e-02 1.97426860e-03 9.97279147e-01 -4.10694682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.68, Y:-16.27, Z:-4.11 [[ 8.95001973e-01 4.41520084e-01 6.34939628e-02 6.76848990e+01] [-4.40261830e-01 8.97249341e-01 -3.33637729e-02 -1.62748147e+01] [-7.17006921e-02 1.90667439e-03 9.97424371e-01 -4.11006905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:-16.29, Z:-4.11 [[ 8.94718660e-01 4.42132570e-01 6.32242799e-02 6.77133831e+01] [-4.40884960e-01 8.96947767e-01 -3.32438886e-02 -1.62902758e+01] [-7.14070826e-02 1.86929331e-03 9.97445504e-01 -4.11307405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.74, Y:-16.31, Z:-4.12 [[ 8.94532937e-01 4.42584423e-01 6.26885440e-02 6.77422049e+01] [-4.41357493e-01 8.96724961e-01 -3.29834544e-02 -1.63070139e+01] [-7.08123453e-02 1.83672771e-03 9.97487964e-01 -4.11543997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:-16.32, Z:-4.12 [[ 8.94338369e-01 4.42957039e-01 6.28326570e-02 6.77706032e+01] [-4.41723840e-01 8.96540969e-01 -3.30808013e-02 -1.63230736e+01] [-7.09854250e-02 1.83074735e-03 9.97475673e-01 -4.11780966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:-16.34, Z:-4.12 [[ 8.94467865e-01 4.42688672e-01 6.28806717e-02 6.77984566e+01] [-4.41451281e-01 8.96673423e-01 -3.31291242e-02 -1.63383744e+01] [-7.10493151e-02 1.87418394e-03 9.97471043e-01 -4.11988450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:-16.36, Z:-4.11 [[ 8.95459583e-01 4.39902374e-01 6.81031323e-02 6.78223080e+01] [-4.39795592e-01 8.97930067e-01 -1.73617736e-02 -1.63600272e+01] [-6.87893356e-02 -1.44046909e-02 9.97527209e-01 -4.11298562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:-16.36, Z:-4.13 [[ 8.95542433e-01 4.41771445e-01 5.33079908e-02 6.78585082e+01] [-4.39686077e-01 8.96940721e-01 -4.66207712e-02 -1.63601622e+01] [-6.84098332e-02 1.83120975e-02 9.97489229e-01 -4.12805276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:-16.38, Z:-4.13 [[ 8.94306588e-01 4.42617947e-01 6.56131035e-02 6.78825760e+01] [-4.41267036e-01 8.96708061e-01 -3.46129538e-02 -1.63847563e+01] [-7.41561134e-02 2.00169288e-03 9.97244636e-01 -4.12733133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:67.91, Y:-16.40, Z:-4.13 [[ 8.93794989e-01 4.43577307e-01 6.61036392e-02 6.79108798e+01] [-4.42207054e-01 8.96233979e-01 -3.48937825e-02 -1.64007370e+01] [-7.47224176e-02 1.95639246e-03 9.97202453e-01 -4.12948270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.94, Y:-16.42, Z:-4.13 [[ 8.93315201e-01 4.44499580e-01 6.63933353e-02 6.79390863e+01] [-4.43118011e-01 8.95777025e-01 -3.50706352e-02 -1.64155766e+01] [-7.50625070e-02 1.90904888e-03 9.97177003e-01 -4.13216625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.98, Y:-16.42, Z:-4.14 [[ 8.94127446e-01 4.44456868e-01 5.47193065e-02 6.79758773e+01] [-4.42225032e-01 8.95596989e-01 -4.84051143e-02 -1.64248099e+01] [-7.05204316e-02 1.90820942e-02 9.97327801e-01 -4.14156299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.99, Y:-16.46, Z:-4.13 [[ 8.92910355e-01 4.43717637e-01 7.63266430e-02 6.79923033e+01] [-4.44492275e-01 8.95751658e-01 -7.45550297e-03 -1.64591383e+01] [-7.16778552e-02 -2.72695074e-02 9.97054993e-01 -4.12615630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.03, Y:-16.45, Z:-4.15 [[ 8.91958892e-01 4.48916048e-01 5.37002448e-02 6.80337118e+01] [-4.45891009e-01 8.93092585e-01 -5.97230586e-02 -1.64476924e+01] [-7.47699298e-02 2.93260569e-02 9.96769502e-01 -4.15375306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.05, Y:-16.48, Z:-4.14 [[ 8.91147933e-01 4.48663176e-01 6.75034578e-02 6.80537238e+01] [-4.47659128e-01 8.93694759e-01 -3.01824929e-02 -1.64788511e+01] [-7.38692596e-02 -3.32147285e-03 9.97262403e-01 -4.14276735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.08, Y:-16.49, Z:-4.14 [[ 8.90539023e-01 4.49446983e-01 7.02684715e-02 6.80809486e+01] [-4.48596309e-01 8.93284928e-01 -2.83441165e-02 -1.64947567e+01] [-7.55089442e-02 -6.28063510e-03 9.97125345e-01 -4.14362674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:-16.52, Z:-4.14 [[ 8.90694233e-01 4.48788095e-01 7.24777879e-02 6.81058714e+01] [-4.49132985e-01 8.93379059e-01 -1.23862286e-02 -1.65182094e+01] [-7.03089299e-02 -2.15198228e-02 9.97293112e-01 -4.13557174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:-16.52, Z:-4.15 [[ 8.90811683e-01 4.50450378e-01 5.95735047e-02 6.81393918e+01] [-4.49238649e-01 8.92797224e-01 -3.31323456e-02 -1.65226764e+01] [-6.81115372e-02 2.75195979e-03 9.97673917e-01 -4.14624754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.17, Y:-16.53, Z:-4.16 [[ 8.91083677e-01 4.50401949e-01 5.57491252e-02 6.81701358e+01] [-4.47697880e-01 8.92508323e-01 -5.47311693e-02 -1.65261853e+01] [-7.44075835e-02 2.38112864e-02 9.96943596e-01 -4.16275659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.19, Y:-16.55, Z:-4.16 [[ 8.91075888e-01 4.48999018e-01 6.62090858e-02 6.81946681e+01] [-4.47637421e-01 8.93530945e-01 -3.49741136e-02 -1.65524593e+01] [-7.48632097e-02 1.52692485e-03 9.97192644e-01 -4.15810480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:-16.57, Z:-4.16 [[ 8.91562423e-01 4.48080596e-01 6.58803900e-02 6.82231745e+01] [-4.46729347e-01 8.93991726e-01 -3.48092536e-02 -1.65682125e+01] [-7.44938747e-02 1.60391882e-03 9.97220181e-01 -4.16108626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.24, Y:-16.60, Z:-4.14 [[ 8.92881287e-01 4.44051504e-01 7.47078938e-02 6.82444485e+01] [-4.45457695e-01 8.95299687e-01 2.43171076e-03 -1.66049498e+01] [-6.58061491e-02 -3.54504352e-02 9.97202496e-01 -4.13978769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:-16.58, Z:-4.18 [[ 8.93771973e-01 4.45941099e-01 4.80436805e-02 6.82861842e+01] [-4.42465590e-01 8.94174063e-01 -6.83882086e-02 -1.65804812e+01] [-7.34565260e-02 3.98657887e-02 9.96501308e-01 -4.17941232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.30, Y:-16.64, Z:-4.14 [[ 8.94300238e-01 4.40909334e-01 7.63285180e-02 6.82991187e+01] [-4.42655219e-01 8.96666198e-01 6.78869539e-03 -1.66384681e+01] [-6.54480029e-02 -3.98583487e-02 9.97059613e-01 -4.14156436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-16.61, Z:-4.19 [[ 8.95822336e-01 4.41928986e-01 4.69160248e-02 6.83422694e+01] [-4.38144404e-01 8.95920324e-01 -7.31864397e-02 -1.66083565e+01] [-7.43762292e-02 4.50060537e-02 9.96214150e-01 -4.18688362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.36, Y:-16.64, Z:-4.18 [[ 8.96190052e-01 4.38581427e-01 6.70053898e-02 6.83610683e+01] [-4.37153988e-01 8.98688057e-01 -3.54424498e-02 -1.66441261e+01] [-7.57613438e-02 2.47149752e-03 9.97122916e-01 -4.17594223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.38, Y:-16.69, Z:-4.15 [[ 8.95917211e-01 4.37909622e-01 7.46157832e-02 6.83822731e+01] [-4.39762761e-01 8.98061987e-01 9.66338935e-03 -1.66851633e+01] [-6.27779074e-02 -4.14708397e-02 9.97165535e-01 -4.14725730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-16.65, Z:-4.20 [[ 8.95972926e-01 4.42465492e-01 3.81681142e-02 6.84291208e+01] [-4.38346134e-01 8.94875044e-01 -8.39721537e-02 -1.66468411e+01] [-7.13104732e-02 5.85059309e-02 9.95736849e-01 -4.20073915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.43, Y:-16.72, Z:-4.14 [[ 8.95169776e-01 4.38362699e-01 8.06797095e-02 6.84345932e+01] [-4.41459958e-01 8.96939563e-01 2.47492680e-02 -1.67221450e+01] [-6.15156675e-02 -5.77716578e-02 9.96432767e-01 -4.14391081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:-16.68, Z:-4.20 [[ 8.94716641e-01 4.44407422e-01 4.45440849e-02 6.84834916e+01] [-4.40333291e-01 8.94389750e-01 -7.85720563e-02 -1.66802354e+01] [-7.47577779e-02 5.06854829e-02 9.95912776e-01 -4.20320161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.49, Y:-16.75, Z:-4.15 [[ 8.94038858e-01 4.40934608e-01 7.91908647e-02 6.84925315e+01] [-4.43455092e-01 8.96139943e-01 1.67566046e-02 -1.67484996e+01] [-6.35775301e-02 -5.00986479e-02 9.96718628e-01 -4.15161689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.54, Y:-16.70, Z:-4.21 [[ 8.92782113e-01 4.49184461e-01 3.42551874e-02 6.85428096e+01] [-4.44868344e-01 8.91065031e-01 -8.99736991e-02 -1.67027074e+01] [-7.09383872e-02 6.50878607e-02 9.95354869e-01 -4.21215416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:-16.76, Z:-4.17 [[ 8.92527274e-01 4.45918378e-01 6.74675158e-02 6.85513777e+01] [-4.46499387e-01 8.94756199e-01 -7.04565236e-03 -1.67625506e+01] [-6.35087639e-02 -2.38357676e-02 9.97696594e-01 -4.17251590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:-16.75, Z:-4.21 [[ 8.90876565e-01 4.52124416e-01 4.38458542e-02 6.85920403e+01] [-4.48994896e-01 8.91100885e-01 -6.58998964e-02 -1.67450993e+01] [-6.88660317e-02 3.90221086e-02 9.96862450e-01 -4.20892309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.61, Y:-16.79, Z:-4.18 [[ 8.91712004e-01 4.47431625e-01 6.82249484e-02 6.86065763e+01] [-4.47953759e-01 8.94018198e-01 -8.30005926e-03 -1.67905827e+01] [-6.47080545e-02 -2.31603597e-02 9.97635437e-01 -4.18277545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:-16.79, Z:-4.21 [[ 8.89998437e-01 4.52051835e-01 5.95979927e-02 6.86422949e+01] [-4.50012397e-01 8.91895578e-01 -4.48455161e-02 -1.67885446e+01] [-7.34276840e-02 1.30926036e-02 9.97214600e-01 -4.20540880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.66, Y:-16.82, Z:-4.20 [[ 8.89128036e-01 4.51652543e-01 7.39007198e-02 6.86648129e+01] [-4.51012263e-01 8.92136364e-01 -2.60891943e-02 -1.68153856e+01] [-7.77127705e-02 -1.01334968e-02 9.96924289e-01 -4.20045591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.70, Y:-16.82, Z:-4.21 [[ 8.90633571e-01 4.51784818e-01 5.15976761e-02 6.87030689e+01] [-4.49300038e-01 8.91800841e-01 -5.31106025e-02 -1.68171155e+01] [-7.00094149e-02 2.41192477e-02 9.97254704e-01 -4.21403305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.72, Y:-16.85, Z:-4.20 [[ 8.90563656e-01 4.48518115e-01 7.56827214e-02 6.87180834e+01] [-4.48662263e-01 8.93557342e-01 -1.60452654e-02 -1.68505938e+01] [-7.48234436e-02 -1.96666509e-02 9.97002846e-01 -4.20063684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:-16.86, Z:-4.21 [[ 8.90868537e-01 4.49100628e-01 6.82779249e-02 6.87477587e+01] [-4.48281473e-01 8.93461766e-01 -2.77451393e-02 -1.68610085e+01] [-7.34640749e-02 -5.89045710e-03 9.97280468e-01 -4.20634638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:-16.87, Z:-4.22 [[ 8.91208244e-01 4.50226018e-01 5.51760669e-02 6.87844666e+01] [-4.47688924e-01 8.92638166e-01 -5.26472367e-02 -1.68657126e+01] [-7.29554189e-02 2.22179373e-02 9.97087694e-01 -4.22172228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.81, Y:-16.89, Z:-4.22 [[ 8.91497939e-01 4.48054526e-01 6.69220875e-02 6.88051187e+01] [-4.47022096e-01 8.94002131e-01 -3.05194363e-02 -1.68933244e+01] [-7.35028604e-02 -2.70763724e-03 9.97291331e-01 -4.21500680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.83, Y:-16.91, Z:-4.21 [[ 8.92936096e-01 4.45476839e-01 6.49269888e-02 6.88302532e+01] [-4.45099623e-01 8.95235604e-01 -2.09651871e-02 -1.69132876e+01] [-6.74644573e-02 -1.01784059e-02 9.97669759e-01 -4.20997198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49361786499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:68.86, Y:-16.92, Z:-4.22 [[ 8.91878013e-01 4.47172618e-01 6.77514522e-02 6.88599543e+01] [-4.45724755e-01 8.94445629e-01 -3.60063763e-02 -1.69241071e+01] [-7.67010558e-02 1.91479587e-03 9.97052296e-01 -4.22093596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.88, Y:-16.95, Z:-4.21 [[ 8.92058223e-01 4.45652076e-01 7.50090243e-02 6.88813057e+01] [-4.45739220e-01 8.95010686e-01 -1.65051299e-02 -1.69515255e+01] [-7.44894237e-02 -1.87109271e-02 9.97046251e-01 -4.21132035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.92, Y:-16.95, Z:-4.23 [[ 8.92832803e-01 4.47134115e-01 5.40432089e-02 6.89199534e+01] [-4.44708243e-01 8.94200047e-01 -5.13892383e-02 -1.69496218e+01] [-7.13033216e-02 2.18485372e-02 9.97215362e-01 -4.23090102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.95, Y:-16.97, Z:-4.23 [[ 8.93023715e-01 4.45922002e-01 6.05162102e-02 6.89454089e+01] [-4.44199365e-01 8.95026579e-01 -4.01789338e-02 -1.69714700e+01] [-7.20802872e-02 8.99947862e-03 9.97358231e-01 -4.23094556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:68.97, Y:-16.99, Z:-4.23 [[ 8.93574835e-01 4.44128288e-01 6.53764348e-02 6.89722299e+01] [-4.43077189e-01 8.95961704e-01 -3.05815283e-02 -1.69947130e+01] [-7.21569037e-02 -1.63992293e-03 9.97391945e-01 -4.23060447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.00, Y:-17.01, Z:-4.24 [[ 8.92927472e-01 4.46170263e-01 6.01051272e-02 6.89980050e+01] [-4.44680134e-01 8.94926016e-01 -3.69730189e-02 -1.70062017e+01] [-7.02859036e-02 6.28666835e-03 9.97507077e-01 -4.23579656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67361786499998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:69.03, Y:-17.03, Z:-4.24 [[ 8.92451182e-01 4.46674496e-01 6.33465275e-02 6.90257624e+01] [-4.45377224e-01 8.94693807e-01 -3.40898705e-02 -1.70289931e+01] [-7.19028215e-02 2.21044464e-03 9.97409193e-01 -4.23839443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70361786499998 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:69.05, Y:-17.04, Z:-4.24 [[ 8.94058341e-01 4.44061032e-01 5.89023212e-02 6.90540900e+01] [-4.42379975e-01 8.95946371e-01 -3.97499354e-02 -1.70423685e+01] [-7.04247182e-02 9.48155392e-03 9.97472034e-01 -4.24188920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.07, Y:-17.07, Z:-4.24 [[ 8.93478251e-01 4.43205852e-01 7.25616175e-02 6.90743288e+01] [-4.42786838e-01 8.96340916e-01 -2.26446168e-02 -1.70679589e+01] [-7.50761734e-02 -1.18968565e-02 9.97106831e-01 -4.23709318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:69.10, Y:-17.08, Z:-4.25 [[ 8.93059294e-01 4.44952410e-01 6.68015788e-02 6.91044291e+01] [-4.43529041e-01 8.95551537e-01 -3.56291389e-02 -1.70783448e+01] [-7.56775278e-02 2.19049342e-03 9.97129938e-01 -4.24579089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79361786499999 meters Centerline goodness : 0.989010 Centerline is valid? [True, True] Translation: X:69.13, Y:-17.09, Z:-4.25 [[ 8.93395317e-01 4.44699239e-01 6.39327273e-02 6.91290920e+01] [-4.43273611e-01 8.95672681e-01 -3.57624608e-02 -1.70934491e+01] [-7.31663364e-02 3.61032413e-03 9.97313217e-01 -4.24614011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:69.16, Y:-17.11, Z:-4.25 [[ 8.93808437e-01 4.44981871e-01 5.56562022e-02 6.91628681e+01] [-4.43129438e-01 8.95436851e-01 -4.27685327e-02 -1.71067225e+01] [-6.88678361e-02 1.35639737e-02 9.97533578e-01 -4.25008987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85361786499999 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:69.19, Y:-17.13, Z:-4.25 [[ 8.92128326e-01 4.47628280e-01 6.11226112e-02 6.91883585e+01] [-4.46373480e-01 8.94215673e-01 -3.36012912e-02 -1.71273080e+01] [-6.96976851e-02 2.69315104e-03 9.97564524e-01 -4.24743687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.21, Y:-17.16, Z:-4.24 [[ 8.90670572e-01 4.48579120e-01 7.40452972e-02 6.92109785e+01] [-4.49116751e-01 8.93415300e-01 -1.01610092e-02 -1.71565155e+01] [-7.07112180e-02 -2.42048714e-02 9.97203113e-01 -4.23884311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.25, Y:-17.15, Z:-4.26 [[ 8.90306196e-01 4.52267090e-01 5.30033610e-02 6.92494910e+01] [-4.49676128e-01 8.91549813e-01 -5.41323508e-02 -1.71477069e+01] [-7.17374173e-02 2.43600212e-02 9.97126036e-01 -4.26467101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94361786499998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:69.27, Y:-17.17, Z:-4.26 [[ 8.88935967e-01 4.53158779e-01 6.66330847e-02 6.92711334e+01] [-4.52012424e-01 8.91428631e-01 -3.22453825e-02 -1.71740276e+01] [-7.40109177e-02 -1.45490183e-03 9.97256370e-01 -4.25767460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.30, Y:-17.19, Z:-4.26 [[ 8.87959923e-01 4.55056844e-01 6.67116525e-02 6.93008129e+01] [-4.53930977e-01 8.90460511e-01 -3.20428930e-02 -1.71898421e+01] [-7.39854299e-02 -1.82968083e-03 9.97257644e-01 -4.26040017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:-17.20, Z:-4.26 [[ 8.87276173e-01 4.56551688e-01 6.55861964e-02 6.93304558e+01] [-4.55135023e-01 8.89694434e-01 -3.59989514e-02 -1.72030124e+01] [-7.47870559e-02 2.09043683e-03 9.97197336e-01 -4.26476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:-17.22, Z:-4.26 [[ 8.86992487e-01 4.56396631e-01 7.03309522e-02 6.93577334e+01] [-4.55358883e-01 8.89765278e-01 -3.10811515e-02 -1.72208944e+01] [-7.67633720e-02 -4.45707596e-03 9.97039377e-01 -4.26431635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:-17.25, Z:-4.25 [[ 8.86887402e-01 4.57050751e-01 6.73449835e-02 6.93848842e+01] [-4.57025610e-01 8.89297035e-01 -1.66845592e-02 -1.72455882e+01] [-6.75153845e-02 -1.59810568e-02 9.97590236e-01 -4.25420307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.41, Y:-17.26, Z:-4.26 [[ 8.87853908e-01 4.55098197e-01 6.78311764e-02 6.94145040e+01] [-4.54525666e-01 8.90395384e-01 -2.45454245e-02 -1.72563985e+01] [-7.15671448e-02 -9.03825958e-03 9.97394833e-01 -4.25958415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-17.25, Z:-4.28 [[ 8.88663518e-01 4.55079017e-01 5.63936192e-02 6.94489124e+01] [-4.51844964e-01 8.89972365e-01 -6.15249314e-02 -1.72490395e+01] [-7.81874680e-02 2.91937892e-02 9.96511135e-01 -4.28435376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:-17.28, Z:-4.27 [[ 8.89665289e-01 4.51898702e-01 6.54464446e-02 6.94709566e+01] [-4.51062648e-01 8.92056781e-01 -2.78780683e-02 -1.72815299e+01] [-7.09800075e-02 -4.71829692e-03 9.97466579e-01 -4.26820028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.50, Y:-17.30, Z:-4.26 [[ 8.90188486e-01 4.49669847e-01 7.32221873e-02 6.94982526e+01] [-4.49787329e-01 8.92995721e-01 -1.58114431e-02 -1.73036228e+01] [-7.24970291e-02 -1.88592474e-02 9.97190308e-01 -4.26299835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.53, Y:-17.30, Z:-4.28 [[ 8.90793370e-01 4.51331876e-01 5.27893007e-02 6.95335972e+01] [-4.49164345e-01 8.92149601e-01 -4.81713659e-02 -1.72988342e+01] [-6.88372265e-02 1.91996616e-02 9.97443136e-01 -4.28121549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.56, Y:-17.33, Z:-4.27 [[ 8.91440978e-01 4.47644817e-01 7.03356327e-02 6.95554610e+01] [-4.47277048e-01 8.94130304e-01 -2.17771046e-02 -1.73283445e+01] [-7.26376287e-02 -1.20465108e-02 9.97285644e-01 -4.27193382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:-17.33, Z:-4.28 [[ 8.93268337e-01 4.45063127e-01 6.31703425e-02 6.95867884e+01] [-4.43664736e-01 8.95491838e-01 -3.54396783e-02 -1.73347939e+01] [-7.23414201e-02 3.63068912e-03 9.97373319e-01 -4.28156114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:-17.35, Z:-4.29 [[ 8.94059879e-01 4.44243907e-01 5.74829092e-02 6.96161012e+01] [-4.42653656e-01 8.95859625e-01 -3.86428841e-02 -1.73480334e+01] [-6.86634833e-02 9.10403227e-03 9.97598337e-01 -4.28534191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:-17.37, Z:-4.29 [[ 8.94749547e-01 4.42553528e-01 5.97463183e-02 6.96417718e+01] [-4.41308438e-01 8.96735344e-01 -3.33554413e-02 -1.73652132e+01] [-6.83382035e-02 3.47821155e-03 9.97656149e-01 -4.28603578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.67, Y:-17.38, Z:-4.29 [[ 8.95569729e-01 4.40778577e-01 6.05731478e-02 6.96697264e+01] [-4.39824021e-01 8.97615618e-01 -2.90005709e-02 -1.73835924e+01] [-6.71542339e-02 -6.69492025e-04 9.97742382e-01 -4.28600130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.70, Y:-17.40, Z:-4.29 [[ 8.96637995e-01 4.37914834e-01 6.53521583e-02 6.96967379e+01] [-4.37024033e-01 8.99010224e-01 -2.81178276e-02 -1.73972421e+01] [-7.10654723e-02 -3.34895126e-03 9.97466031e-01 -4.28927370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.73, Y:-17.40, Z:-4.30 [[ 8.97522654e-01 4.37638745e-01 5.40871030e-02 6.97291576e+01] [-4.35691755e-01 8.99004994e-01 -4.43025524e-02 -1.74018260e+01] [-6.80130891e-02 1.61972396e-02 9.97552941e-01 -4.30052644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:-17.43, Z:-4.29 [[ 8.97348570e-01 4.35740638e-01 6.99688542e-02 6.97511731e+01] [-4.35333344e-01 9.00006007e-01 -2.17730804e-02 -1.74289176e+01] [-7.24598050e-02 -1.09217327e-02 9.97311532e-01 -4.29238332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:-17.44, Z:-4.30 [[ 8.97068458e-01 4.37248444e-01 6.38903748e-02 6.97828666e+01] [-4.36029867e-01 8.99339615e-01 -3.26529069e-02 -1.74390571e+01] [-7.17365778e-02 1.43378121e-03 9.97422582e-01 -4.29852624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.82, Y:-17.44, Z:-4.32 [[ 8.97024221e-01 4.38283828e-01 5.70511522e-02 6.98161574e+01] [-4.34956418e-01 8.98304122e-01 -6.21499631e-02 -1.74366762e+01] [-7.84886089e-02 3.09352574e-02 9.96434919e-01 -4.32029677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.83, Y:-17.48, Z:-4.30 [[ 8.97252688e-01 4.34571804e-01 7.80061569e-02 6.98329149e+01] [-4.35023332e-01 9.00339197e-01 -1.20012913e-02 -1.74778047e+01] [-7.54474235e-02 -2.31663074e-02 9.96880639e-01 -4.29524242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.87, Y:-17.48, Z:-4.31 [[ 8.97027968e-01 4.37955829e-01 5.94602171e-02 6.98712289e+01] [-4.36212198e-01 8.98937749e-01 -4.03712897e-02 -1.74801273e+01] [-7.11318753e-02 1.02769040e-02 9.97413977e-01 -4.30961399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.90, Y:-17.48, Z:-4.33 [[ 8.96043310e-01 4.39454908e-01 6.31329630e-02 6.99000246e+01] [-4.36445699e-01 8.97976006e-01 -5.61626552e-02 -1.74819897e+01] [-8.13728404e-02 2.27700613e-02 9.96423597e-01 -4.32613957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-17.52, Z:-4.31 [[ 8.95415027e-01 4.39266023e-01 7.26449569e-02 6.99234054e+01] [-4.38756470e-01 8.98293748e-01 -2.36876180e-02 -1.75156725e+01] [-7.56616763e-02 -1.06631957e-02 9.97076530e-01 -4.30999616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:-17.52, Z:-4.32 [[ 8.95308701e-01 4.40507225e-01 6.61491861e-02 6.99557020e+01] [-4.39024606e-01 8.97742492e-01 -3.62741427e-02 -1.75248119e+01] [-7.53639572e-02 3.43543522e-03 9.97150175e-01 -4.31823969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.98, Y:-17.54, Z:-4.32 [[ 8.94102107e-01 4.42204394e-01 7.09696867e-02 6.99840590e+01] [-4.40690887e-01 8.96913162e-01 -3.65830987e-02 -1.75373756e+01] [-7.98308531e-02 1.43333147e-03 9.96807394e-01 -4.32274286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:-17.54, Z:-4.34 [[ 8.93288823e-01 4.44986980e-01 6.34166170e-02 7.00158192e+01] [-4.42054443e-01 8.95282240e-01 -5.52953969e-02 -1.75392258e+01] [-8.13815026e-02 2.13611627e-02 9.96454089e-01 -4.33683380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.04, Y:-17.57, Z:-4.32 [[ 8.91493249e-01 4.46049845e-01 7.92421764e-02 7.00350880e+01] [-4.45773047e-01 8.94872310e-01 -2.21345870e-02 -1.75715302e+01] [-8.07847585e-02 -1.55911916e-02 9.96609621e-01 -4.32271469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:-17.57, Z:-4.34 [[ 8.91499245e-01 4.48521692e-01 6.36976263e-02 7.00736231e+01] [-4.45629662e-01 8.93537023e-01 -5.48251117e-02 -1.75667907e+01] [-8.15064392e-02 2.04909940e-02 9.96462152e-01 -4.34310514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:-17.60, Z:-4.33 [[ 8.91444299e-01 4.47162059e-01 7.33018017e-02 7.00980146e+01] [-4.46153298e-01 8.94436058e-01 -3.05184231e-02 -1.75952559e+01] [-7.92104554e-02 -5.49836625e-03 9.96842752e-01 -4.33375332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.13, Y:-17.61, Z:-4.34 [[ 8.91053086e-01 4.47678338e-01 7.48899489e-02 7.01278308e+01] [-4.46448706e-01 8.94186993e-01 -3.33642766e-02 -1.76093832e+01] [-8.19020820e-02 -3.70517921e-03 9.96633494e-01 -4.33773078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.16, Y:-17.62, Z:-4.35 [[ 8.91845436e-01 4.47605376e-01 6.52774471e-02 7.01595900e+01] [-4.45314030e-01 8.94138524e-01 -4.70288666e-02 -1.76151809e+01] [-7.94174537e-02 1.28735170e-02 9.96758316e-01 -4.34715554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.19, Y:-17.63, Z:-4.35 [[ 8.93141119e-01 4.44683495e-01 6.74946788e-02 7.01868499e+01] [-4.42975329e-01 8.95672755e-01 -3.92832455e-02 -1.76333467e+01] [-7.79217558e-02 5.18700426e-03 9.96945984e-01 -4.34730685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:-17.65, Z:-4.35 [[ 8.93847298e-01 4.42734702e-01 7.08730625e-02 7.02139910e+01] [-4.41408918e-01 8.96652401e-01 -3.42438277e-02 -1.76507406e+01] [-7.87094325e-02 -6.75248915e-04 9.96897371e-01 -4.34778433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:-17.66, Z:-4.36 [[ 8.94927786e-01 4.41117887e-01 6.72255049e-02 7.02448599e+01] [-4.39052894e-01 8.97397915e-01 -4.36982604e-02 -1.76595741e+01] [-7.96041122e-02 9.59123496e-03 9.96780414e-01 -4.35596166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.27, Y:-17.68, Z:-4.35 [[ 8.95667699e-01 4.39056126e-01 7.07749364e-02 7.02714604e+01] [-4.37816646e-01 8.98458498e-01 -3.29986726e-02 -1.76805182e+01] [-7.80766123e-02 -1.43060017e-03 9.96946336e-01 -4.35277140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.30, Y:-17.69, Z:-4.36 [[ 8.96300408e-01 4.37263093e-01 7.38008518e-02 7.02996605e+01] [-4.35440112e-01 8.99325716e-01 -4.00645064e-02 -1.76908269e+01] [-8.38897339e-02 3.77398228e-03 9.96467897e-01 -4.35927378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.32, Y:-17.71, Z:-4.35 [[ 8.96837272e-01 4.35289488e-01 7.87779749e-02 7.03248757e+01] [-4.34827255e-01 9.00198414e-01 -2.38342865e-02 -1.77142613e+01] [-8.12906224e-02 -1.28793341e-02 9.96607223e-01 -4.35092326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.36, Y:-17.72, Z:-4.36 [[ 8.97531456e-01 4.35614236e-01 6.83924196e-02 7.03578072e+01] [-4.33938102e-01 9.00120314e-01 -3.84856413e-02 -1.77199948e+01] [-7.83262994e-02 4.86399691e-03 9.96915910e-01 -4.35805731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-17.73, Z:-4.37 [[ 8.98123752e-01 4.35037803e-01 6.41547799e-02 7.03893157e+01] [-4.32764850e-01 9.00302084e-01 -4.65912159e-02 -1.77298435e+01] [-7.80276222e-02 1.40807440e-02 9.96851756e-01 -4.36671007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:-17.74, Z:-4.37 [[ 8.98335063e-01 4.33953454e-01 6.83996662e-02 7.04164409e+01] [-4.31894315e-01 9.00887298e-01 -4.32362937e-02 -1.77445595e+01] [-8.03829295e-02 9.29925166e-03 9.96720677e-01 -4.37011076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.44, Y:-17.77, Z:-4.37 [[ 8.96975562e-01 4.35213772e-01 7.76132376e-02 7.04416975e+01] [-4.34188689e-01 9.00304919e-01 -3.05161447e-02 -1.77659880e+01] [-8.31566261e-02 -6.32655381e-03 9.96516407e-01 -4.36721645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:-17.77, Z:-4.38 [[ 8.97115721e-01 4.35878871e-01 7.20624214e-02 7.04721804e+01] [-4.33903971e-01 8.99982960e-01 -4.19286930e-02 -1.77722785e+01] [-8.31307828e-02 6.34671884e-03 9.96518435e-01 -4.37579631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-17.78, Z:-4.38 [[ 8.96690520e-01 4.36941074e-01 7.09126804e-02 7.05017443e+01] [-4.34457495e-01 8.99405325e-01 -4.81325981e-02 -1.77831982e+01] [-8.48103515e-02 1.23514989e-02 9.96320553e-01 -4.38300276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-17.79, Z:-4.39 [[ 8.96986783e-01 4.36241027e-01 7.14736119e-02 7.05309415e+01] [-4.33386814e-01 8.99688552e-01 -5.23104030e-02 -1.77921929e+01] [-8.71239343e-02 1.59460191e-02 9.96069849e-01 -4.39130870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-17.81, Z:-4.39 [[ 8.95876950e-01 4.37440189e-01 7.77854150e-02 7.05580799e+01] [-4.35346025e-01 8.99235410e-01 -4.30059953e-02 -1.78093346e+01] [-8.87599503e-02 4.66450877e-03 9.96042124e-01 -4.39209185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:-17.83, Z:-4.38 [[ 8.94669032e-01 4.39016288e-01 8.26560520e-02 7.05833208e+01] [-4.38293666e-01 8.98405852e-01 -2.76692663e-02 -1.78327006e+01] [-8.64059394e-02 -1.14727883e-02 9.96193951e-01 -4.38357278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-17.84, Z:-4.39 [[ 8.93586468e-01 4.42434522e-01 7.58611791e-02 7.06161502e+01] [-4.40548513e-01 8.96795265e-01 -4.09299581e-02 -1.78397384e+01] [-8.61407726e-02 3.15392701e-03 9.96277983e-01 -4.39134828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:-17.85, Z:-4.39 [[ 8.91190322e-01 4.47234623e-01 7.59012581e-02 7.06454483e+01] [-4.45361591e-01 8.94412553e-01 -4.09785142e-02 -1.78523336e+01] [-8.62140484e-02 2.71615020e-03 9.96272935e-01 -4.39333523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-17.87, Z:-4.40 [[ 8.89827507e-01 4.49941479e-01 7.58925143e-02 7.06753237e+01] [-4.48076515e-01 8.93054609e-01 -4.09988151e-02 -1.78666642e+01] [-8.62232272e-02 2.47622012e-03 9.96272766e-01 -4.39615814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:-17.88, Z:-4.40 [[ 8.88471826e-01 4.52626488e-01 7.58094845e-02 7.07055455e+01] [-4.50773040e-01 8.91697402e-01 -4.09805963e-02 -1.78807273e+01] [-8.61480238e-02 2.23723347e-03 9.96279837e-01 -4.39909658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:-17.89, Z:-4.40 [[ 8.87374705e-01 4.54748159e-01 7.59621230e-02 7.07343827e+01] [-4.52892622e-01 8.90617690e-01 -4.10901855e-02 -1.78938932e+01] [-8.63388968e-02 2.05970616e-03 9.96263696e-01 -4.40213336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-17.91, Z:-4.40 [[ 8.85950190e-01 4.57518945e-01 7.59518053e-02 7.07645366e+01] [-4.55672603e-01 8.89198042e-01 -4.11013454e-02 -1.79057576e+01] [-8.63408407e-02 1.80458795e-03 9.96264023e-01 -4.40473557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:-17.92, Z:-4.41 [[ 8.85561813e-01 4.58235458e-01 7.61612821e-02 7.07931037e+01] [-4.56380103e-01 8.88829110e-01 -4.12312333e-02 -1.79195719e+01] [-8.65879777e-02 1.75431194e-03 9.96242663e-01 -4.40718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-17.93, Z:-4.41 [[ 8.85319587e-01 4.58604839e-01 7.67517482e-02 7.08226045e+01] [-4.56719749e-01 8.88638580e-01 -4.15757755e-02 -1.79342797e+01] [-8.72714163e-02 1.75380919e-03 9.96183027e-01 -4.40989842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59361786499998 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:70.85, Y:-17.96, Z:-4.41 [[ 8.85078768e-01 4.59176455e-01 7.61088591e-02 7.08539729e+01] [-4.57534098e-01 8.88344953e-01 -3.88045568e-02 -1.79554341e+01] [-8.54290597e-02 -4.77308899e-04 9.96344141e-01 -4.41086824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:-17.96, Z:-4.42 [[ 8.86695697e-01 4.56148828e-01 7.54916389e-02 7.08798604e+01] [-4.53960241e-01 8.89885788e-01 -4.49820343e-02 -1.79617220e+01] [-8.76974388e-02 5.61517363e-03 9.96131331e-01 -4.41552297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-17.98, Z:-4.42 [[ 8.87386366e-01 4.54548055e-01 7.70162492e-02 7.09076954e+01] [-4.52629673e-01 8.90719471e-01 -4.17756283e-02 -1.79785231e+01] [-8.75889033e-02 2.21128330e-03 9.96154252e-01 -4.41702142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:-17.99, Z:-4.42 [[ 8.89191909e-01 4.51139531e-01 7.62290771e-02 7.09372078e+01] [-4.49245409e-01 8.92449801e-01 -4.13753032e-02 -1.79931371e+01] [-8.66966596e-02 2.54502192e-03 9.96231505e-01 -4.41996924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:-18.01, Z:-4.42 [[ 8.89998073e-01 4.49607513e-01 7.58716918e-02 7.09663105e+01] [-4.47723285e-01 8.93222125e-01 -4.12079580e-02 -1.80081466e+01] [-8.62976813e-02 2.70548012e-03 9.96265723e-01 -4.42257729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:-18.02, Z:-4.43 [[ 8.90827738e-01 4.47982484e-01 7.57471747e-02 7.09946250e+01] [-4.46096264e-01 8.94037687e-01 -4.11671884e-02 -1.80228533e+01] [-8.61630082e-02 2.88234175e-03 9.96276883e-01 -4.42523082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-18.05, Z:-4.42 [[ 8.90480922e-01 4.48724822e-01 7.54305087e-02 7.10246586e+01] [-4.47419615e-01 8.93664378e-01 -3.43462839e-02 -1.80471341e+01] [-8.28215888e-02 -3.16437865e-03 9.96559367e-01 -4.42418137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-18.06, Z:-4.43 [[ 8.91303115e-01 4.47519362e-01 7.28366538e-02 7.10535325e+01] [-4.46119928e-01 8.94273725e-01 -3.53767637e-02 -1.80609714e+01] [-8.09676924e-02 -9.62463052e-04 9.96716262e-01 -4.42548525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-18.06, Z:-4.44 [[ 8.92802626e-01 4.45187813e-01 6.86387824e-02 7.10821708e+01] [-4.42450462e-01 8.95296718e-01 -5.17819970e-02 -1.80600053e+01] [-8.45047906e-02 1.58618419e-02 9.96296814e-01 -4.43644153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:-18.08, Z:-4.44 [[ 8.92964170e-01 4.43939319e-01 7.43832726e-02 7.11086730e+01] [-4.42100543e-01 8.96050859e-01 -4.04965155e-02 -1.80810345e+01] [-8.46291908e-02 3.27705209e-03 9.96407126e-01 -4.43539667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:-18.10, Z:-4.44 [[ 8.92924393e-01 4.44192176e-01 7.33439757e-02 7.11376883e+01] [-4.42403291e-01 8.95925711e-01 -3.99555713e-02 -1.80955024e+01] [-8.34587058e-02 3.22968802e-03 9.96506003e-01 -4.43843208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:-18.11, Z:-4.44 [[ 8.92699850e-01 4.44766389e-01 7.25936410e-02 7.11669010e+01] [-4.43013756e-01 8.95641018e-01 -3.95724537e-02 -1.81111411e+01] [-8.26183398e-02 3.16634193e-03 9.96576231e-01 -4.44128961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.13, Z:-4.44 [[ 8.92404415e-01 4.45461935e-01 7.19585002e-02 7.11954898e+01] [-4.43740069e-01 8.95295522e-01 -3.92514906e-02 -1.81262249e+01] [-8.19091679e-02 3.09733357e-03 9.96634986e-01 -4.44424484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-18.14, Z:-4.45 [[ 8.91485988e-01 4.47434831e-01 7.10971470e-02 7.12236811e+01] [-4.45758224e-01 8.94311825e-01 -3.88067607e-02 -1.81402565e+01] [-8.09465158e-02 2.90354546e-03 9.96714217e-01 -4.44687592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:-18.16, Z:-4.45 [[ 8.90828943e-01 4.48789702e-01 7.07926340e-02 7.12526708e+01] [-4.47129842e-01 8.93633047e-01 -3.86636952e-02 -1.81553447e+01] [-8.06145055e-02 2.78923955e-03 9.96741452e-01 -4.44993084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:-18.17, Z:-4.45 [[ 8.90056945e-01 4.50349795e-01 7.05953062e-02 7.12816127e+01] [-4.48702008e-01 8.92848233e-01 -3.85816023e-02 -1.81709304e+01] [-8.04061112e-02 2.66356742e-03 9.96758628e-01 -4.45297712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:-18.19, Z:-4.45 [[ 8.88366661e-01 4.53612061e-01 7.09984098e-02 7.13104654e+01] [-4.52513493e-01 8.91190769e-01 -3.17891702e-02 -1.81927033e+01] [-7.76930785e-02 -3.88729945e-03 9.96969746e-01 -4.45238363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:-18.20, Z:-4.46 [[ 8.88019663e-01 4.54864286e-01 6.72276703e-02 7.13393493e+01] [-4.52757659e-01 8.90512708e-01 -4.46947349e-02 -1.81976422e+01] [-8.01971334e-02 9.25196078e-03 9.96736084e-01 -4.45979418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:-18.22, Z:-4.45 [[ 8.86983299e-01 4.56010708e-01 7.29030924e-02 7.13662076e+01] [-4.55195222e-01 8.89938427e-01 -2.84061028e-02 -1.82249791e+01] [-7.78327504e-02 -7.98940053e-03 9.96934417e-01 -4.45490308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-18.23, Z:-4.47 [[ 8.86133751e-01 4.58726148e-01 6.58581484e-02 7.13963648e+01] [-4.56345089e-01 8.88484821e-01 -4.84136641e-02 -1.82264417e+01] [-8.07225789e-02 1.28469392e-02 9.96653812e-01 -4.46562599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:-18.25, Z:-4.47 [[ 8.85584972e-01 4.58990786e-01 7.11808603e-02 7.14231408e+01] [-4.57336839e-01 8.88438851e-01 -3.89797818e-02 -1.82474451e+01] [-8.11312024e-02 1.96627935e-03 9.96701491e-01 -4.46517318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:-18.28, Z:-4.46 [[ 8.84342261e-01 4.60805411e-01 7.48140252e-02 7.14501879e+01] [-4.60572854e-01 8.87364731e-01 -2.13653837e-02 -1.82766392e+01] [-7.62326118e-02 -1.55629974e-02 9.96968596e-01 -4.45780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:-18.29, Z:-4.46 [[ 8.82786628e-01 4.64766074e-01 6.84124763e-02 7.14800365e+01] [-4.64088144e-01 8.85393745e-01 -2.64596028e-02 -1.82919529e+01] [-7.28695043e-02 -8.39123560e-03 9.97306183e-01 -4.45861972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:-18.30, Z:-4.47 [[ 8.82530083e-01 4.65754539e-01 6.49104148e-02 7.15103661e+01] [-4.64248174e-01 8.84908858e-01 -3.75492473e-02 -1.83025565e+01] [-7.49285334e-02 3.00379882e-03 9.97184382e-01 -4.46583624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:-18.31, Z:-4.48 [[ 8.82546888e-01 4.66294935e-01 6.06632033e-02 7.15390877e+01] [-4.63999773e-01 8.84508377e-01 -4.84679320e-02 -1.83104540e+01] [-7.62574627e-02 1.46275100e-02 9.96980860e-01 -4.47501587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:-18.32, Z:-4.48 [[ 8.83356305e-01 4.64286896e-01 6.41819079e-02 7.15642639e+01] [-4.61479537e-01 8.85497889e-01 -5.41306370e-02 -1.83168674e+01] [-8.19650894e-02 1.81980023e-02 9.96469045e-01 -4.48389570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:-18.34, Z:-4.48 [[ 8.82708193e-01 4.64425856e-01 7.16580114e-02 7.15887166e+01] [-4.62764404e-01 8.85610718e-01 -3.92780171e-02 -1.83415718e+01] [-8.17028297e-02 1.51025058e-03 9.96655591e-01 -4.48131828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:-18.37, Z:-4.47 [[ 8.81227797e-01 4.66775519e-01 7.45532336e-02 7.16166674e+01] [-4.66517836e-01 8.84240438e-01 -2.19079011e-02 -1.83745568e+01] [-7.61490558e-02 -1.54745617e-02 9.96976358e-01 -4.47258396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:-18.38, Z:-4.48 [[ 8.81325462e-01 4.67849405e-01 6.61994289e-02 7.16494927e+01] [-4.66304661e-01 8.83804094e-01 -3.80826253e-02 -1.83824663e+01] [-7.63242599e-02 2.69408508e-03 9.97079410e-01 -4.48250206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:71.68, Y:-18.41, Z:-4.49 [[ 8.79796146e-01 4.70869667e-01 6.51191063e-02 7.16784260e+01] [-4.69431829e-01 8.82200908e-01 -3.68146076e-02 -1.84057091e+01] [-7.47830167e-02 1.82036871e-03 9.97198168e-01 -4.48526648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49361786499999 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:71.71, Y:-18.42, Z:-4.49 [[ 8.80119923e-01 4.70524895e-01 6.32079539e-02 7.17068053e+01] [-4.68801426e-01 8.82364953e-01 -4.07100993e-02 -1.84196499e+01] [-7.49275985e-02 6.19779050e-03 9.97169716e-01 -4.48966304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-18.42, Z:-4.50 [[ 8.81600927e-01 4.67749097e-01 6.31711030e-02 7.17297498e+01] [-4.65408306e-01 8.83758443e-01 -4.86428057e-02 -1.84222372e+01] [-7.85806241e-02 1.34831865e-02 9.96816578e-01 -4.49685820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:-18.46, Z:-4.49 [[ 8.80412608e-01 4.69107687e-01 6.93658220e-02 7.17558898e+01] [-4.68354872e-01 8.83104292e-01 -2.77582962e-02 -1.84592593e+01] [-7.42788853e-02 -8.04906676e-03 9.97205024e-01 -4.48986171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:-18.47, Z:-4.50 [[ 8.80377971e-01 4.69905061e-01 6.42173055e-02 7.17875465e+01] [-4.68422702e-01 8.82712364e-01 -3.74039307e-02 -1.84702499e+01] [-7.42617059e-02 2.84875288e-03 9.97234718e-01 -4.49639406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-18.48, Z:-4.50 [[ 8.80471628e-01 4.70197861e-01 6.06933673e-02 7.18144792e+01] [-4.68484052e-01 8.82529233e-01 -4.08025143e-02 -1.84838337e+01] [-7.27489258e-02 7.49158160e-03 9.97322150e-01 -4.50053110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-18.50, Z:-4.50 [[ 8.80551973e-01 4.69666903e-01 6.35706189e-02 7.18410772e+01] [-4.68328657e-01 8.82842507e-01 -3.54595177e-02 -1.85041506e+01] [-7.27770064e-02 1.45200573e-03 9.97347181e-01 -4.50167917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67361786499998 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:71.87, Y:-18.53, Z:-4.50 [[ 8.79775099e-01 4.70959784e-01 6.47507237e-02 7.18694832e+01] [-4.69782425e-01 8.82153967e-01 -3.32994314e-02 -1.85279634e+01] [-7.28028008e-02 -1.12274148e-03 9.97345723e-01 -4.50339766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70361786499998 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:71.90, Y:-18.54, Z:-4.51 [[ 8.80309261e-01 4.71029329e-01 5.64533025e-02 7.18993004e+01] [-4.68918618e-01 8.81992306e-01 -4.69563693e-02 -1.85356505e+01] [-7.19092057e-02 1.48641222e-02 9.97300418e-01 -4.51260965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-18.56, Z:-4.51 [[ 8.81627816e-01 4.67764224e-01 6.26819370e-02 7.19212629e+01] [-4.66952789e-01 8.83841074e-01 -2.79293645e-02 -1.85612273e+01] [-6.84652280e-02 -4.64620068e-03 9.97642684e-01 -4.50673853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-18.57, Z:-4.52 [[ 8.82167545e-01 4.66984986e-01 6.08723752e-02 7.19523346e+01] [-4.65234337e-01 8.84228948e-01 -4.11846890e-02 -1.85701216e+01] [-7.30577477e-02 8.01187684e-03 9.97295531e-01 -4.51738005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79361786499999 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:71.98, Y:-18.59, Z:-4.53 [[ 8.80312851e-01 4.70861888e-01 5.77786042e-02 7.19782901e+01] [-4.68462752e-01 8.82034149e-01 -5.05807361e-02 -1.85859344e+01] [-7.47792429e-02 1.74597481e-02 9.97047252e-01 -4.52798431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:72.01, Y:-18.60, Z:-4.53 [[ 8.80801814e-01 4.69689235e-01 5.98346574e-02 7.20077340e+01] [-4.67343373e-01 8.82694993e-01 -4.93935362e-02 -1.86042116e+01] [-7.60153647e-02 1.55425856e-02 9.96985503e-01 -4.53354238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85361786499999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:72.03, Y:-18.63, Z:-4.52 [[ 8.82462372e-01 4.65527270e-01 6.74130784e-02 7.20275499e+01] [-4.64923902e-01 8.84987965e-01 -2.53390364e-02 -1.86297808e+01] [-7.14557756e-02 -8.98120525e-03 9.97403334e-01 -4.52268444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:72.06, Y:-18.64, Z:-4.54 [[ 8.80437740e-01 4.70387740e-01 5.97056191e-02 7.20593298e+01] [-4.68006248e-01 8.82314832e-01 -4.99068020e-02 -1.86377876e+01] [-7.61547011e-02 1.59972291e-02 9.96967678e-01 -4.53885512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91361786499998 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:72.08, Y:-18.66, Z:-4.54 [[ 8.80556753e-01 4.69577502e-01 6.41620955e-02 7.20815228e+01] [-4.67860243e-01 8.82873105e-01 -4.05200380e-02 -1.86605578e+01] [-7.56742867e-02 5.66129950e-03 9.97116519e-01 -4.53749216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94361786499998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:72.09, Y:-18.70, Z:-4.51 [[ 8.79228908e-01 4.68462405e-01 8.65996679e-02 7.20928699e+01] [-4.70394234e-01 8.82453716e-01 2.16881763e-03 -1.86975243e+01] [-7.54041892e-02 -4.26428716e-02 9.96240831e-01 -4.51136905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97361786499998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:72.13, Y:-18.70, Z:-4.53 [[ 8.78813944e-01 4.72660888e-01 6.54044080e-02 7.21290230e+01] [-4.71270472e-01 8.81243797e-01 -3.62424039e-02 -1.86958407e+01] [-7.47675957e-02 1.02716369e-03 9.97200457e-01 -4.52955929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:72.16, Y:-18.71, Z:-4.53 [[ 8.78473752e-01 4.73221090e-01 6.59216771e-02 7.21564216e+01] [-4.71808572e-01 8.80943125e-01 -3.65497275e-02 -1.87145090e+01] [-7.53693501e-02 1.00556387e-03 9.97155178e-01 -4.53279812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03361786499998 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:72.19, Y:-18.72, Z:-4.56 [[ 8.77764006e-01 4.76184621e-01 5.27120136e-02 7.21931253e+01] [-4.72205041e-01 8.78481536e-01 -7.27501869e-02 -1.87192139e+01] [-8.09490509e-02 3.89666169e-02 9.95956251e-01 -4.56014059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.20, Y:-18.77, Z:-4.53 [[ 8.77631318e-01 4.71513226e-01 8.62470101e-02 7.21993849e+01] [-4.72869046e-01 8.81117018e-01 -5.25981277e-03 -1.87693523e+01] [-7.84737797e-02 -3.61673650e-02 9.96259900e-01 -4.52510505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.23, Y:-18.77, Z:-4.54 [[ 8.76312325e-01 4.76584135e-01 7.03155122e-02 7.22341090e+01] [-4.74983266e-01 8.79128491e-01 -3.90383547e-02 -1.87710248e+01] [-8.04214307e-02 8.11099733e-04 9.96760621e-01 -4.54192523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.26, Y:-18.79, Z:-4.55 [[ 8.74956823e-01 4.78835168e-01 7.18849135e-02 7.22624014e+01] [-4.77167199e-01 8.77904590e-01 -3.99373891e-02 -1.87863967e+01] [-8.22315220e-02 6.42368291e-04 9.96613046e-01 -4.54543982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15361786499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:72.29, Y:-18.80, Z:-4.55 [[ 8.73942851e-01 4.80624724e-01 7.22756392e-02 7.22909287e+01] [-4.78943310e-01 8.76926242e-01 -4.01705392e-02 -1.88030829e+01] [-8.26873589e-02 4.90821649e-04 9.96575416e-01 -4.54892596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.32, Y:-18.82, Z:-4.55 [[ 8.72601345e-01 4.83094247e-01 7.20197267e-02 7.23169596e+01] [-4.81431129e-01 8.75568314e-01 -4.00524214e-02 -1.88210278e+01] [-8.24072850e-02 2.77258444e-04 9.96598697e-01 -4.55228919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-18.84, Z:-4.56 [[ 8.72259430e-01 4.83685537e-01 7.21927205e-02 7.23452380e+01] [-4.82015270e-01 8.75241822e-01 -4.01625868e-02 -1.88377441e+01] [-8.26121506e-02 2.34201384e-04 9.96581747e-01 -4.55572229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.37, Y:-18.85, Z:-4.56 [[ 8.72147879e-01 4.83819818e-01 7.26392590e-02 7.23730230e+01] [-4.82127051e-01 8.75167597e-01 -4.04374000e-02 -1.88541042e+01] [-8.31359412e-02 2.46040890e-04 9.96538185e-01 -4.55911646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-18.87, Z:-4.56 [[ 8.72280884e-01 4.83460397e-01 7.34309471e-02 7.24010092e+01] [-4.81727100e-01 8.75366182e-01 -4.09029299e-02 -1.88710500e+01] [-8.40539144e-02 3.05166661e-04 9.96461161e-01 -4.56242381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-18.89, Z:-4.57 [[ 8.72167269e-01 4.83543362e-01 7.42298580e-02 7.24304357e+01] [-4.81770138e-01 8.75320349e-01 -4.13741626e-02 -1.88862935e+01] [-8.49811068e-02 3.23461463e-04 9.96382510e-01 -4.56604224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:-18.90, Z:-4.57 [[ 8.72033208e-01 4.83721911e-01 7.46404450e-02 7.24592322e+01] [-4.81927265e-01 8.75221688e-01 -4.16306295e-02 -1.89008449e+01] [-8.54645839e-02 3.32025930e-04 9.96341154e-01 -4.56941588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:-18.92, Z:-4.57 [[ 8.71815833e-01 4.84085801e-01 7.48203891e-02 7.24887049e+01] [-4.82282381e-01 8.75020480e-01 -4.17476278e-02 -1.89161214e+01] [-8.56788066e-02 3.11687476e-04 9.96322761e-01 -4.57311176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:-18.93, Z:-4.58 [[ 8.71904289e-01 4.83982956e-01 7.44540732e-02 7.25177536e+01] [-4.82194546e-01 8.75077357e-01 -4.15696981e-02 -1.89314445e+01] [-8.52720990e-02 3.43450068e-04 9.96357642e-01 -4.57731746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-18.95, Z:-4.58 [[ 8.71976954e-01 4.83813922e-01 7.47012786e-02 7.25457229e+01] [-4.82010632e-01 8.75170807e-01 -4.17349935e-02 -1.89470060e+01] [-8.55683492e-02 3.85141941e-04 9.96332228e-01 -4.58106243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-18.96, Z:-4.58 [[ 8.72213998e-01 4.83388612e-01 7.46872934e-02 7.25740515e+01] [-4.81583039e-01 8.75405766e-01 -4.17435288e-02 -1.89627473e+01] [-8.55600338e-02 4.41156422e-04 9.96332919e-01 -4.58437010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.60, Y:-18.98, Z:-4.59 [[ 8.72912490e-01 4.81881035e-01 7.62525640e-02 7.26014794e+01] [-4.79990628e-01 8.76236427e-01 -4.26464626e-02 -1.89782933e+01] [-8.73657957e-02 6.26113782e-04 9.96176102e-01 -4.58779625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.63, Y:-18.99, Z:-4.59 [[ 8.73390960e-01 4.80852661e-01 7.72589781e-02 7.26293527e+01] [-4.78905567e-01 8.76801083e-01 -4.32356296e-02 -1.89936855e+01] [-8.85307232e-02 7.61853359e-04 9.96073155e-01 -4.59127479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.66, Y:-19.01, Z:-4.59 [[ 8.73956388e-01 4.79656817e-01 7.82915702e-02 7.26577599e+01] [-4.77650080e-01 8.77455694e-01 -4.38395419e-02 -1.90092210e+01] [-8.97253193e-02 9.17872885e-04 9.95966126e-01 -4.59470637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.69, Y:-19.03, Z:-4.60 [[ 8.75060145e-01 4.77437634e-01 7.95175935e-02 7.26851006e+01] [-4.75355612e-01 8.78664835e-01 -4.45550329e-02 -1.90251546e+01] [-9.11415626e-02 1.18919925e-03 9.95837236e-01 -4.59825434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:-19.04, Z:-4.60 [[ 8.75297757e-01 4.76791791e-01 8.07677240e-02 7.27129360e+01] [-4.74639126e-01 8.79015310e-01 -4.52745399e-02 -1.90416627e+01] [-9.25825950e-02 1.29318125e-03 9.95704168e-01 -4.60161853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.74, Y:-19.06, Z:-4.61 [[ 8.76944778e-01 4.72697758e-01 8.67449553e-02 7.27373583e+01] [-4.71031440e-01 8.81206032e-01 -4.00663444e-02 -1.90560763e+01] [-9.53794490e-02 -5.72362974e-03 9.95424533e-01 -4.60531520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.77, Y:-19.07, Z:-4.61 [[ 8.75715744e-01 4.76365176e-01 7.87283677e-02 7.27693693e+01] [-4.73609274e-01 8.79210443e-01 -5.18001245e-02 -1.90711979e+01] [-9.38945784e-02 8.07569947e-03 9.95549392e-01 -4.61001263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:-19.09, Z:-4.61 [[ 8.75853453e-01 4.75321342e-01 8.33687580e-02 7.27959048e+01] [-4.73012580e-01 8.79810862e-01 -4.68182288e-02 -1.90902365e+01] [-9.56024422e-02 1.57143606e-03 9.95418356e-01 -4.61206622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:-19.11, Z:-4.62 [[ 8.75927019e-01 4.75141958e-01 8.36180418e-02 7.28235614e+01] [-4.72815697e-01 8.79907660e-01 -4.69875158e-02 -1.91057594e+01] [-9.59018957e-02 1.62171192e-03 9.95389470e-01 -4.61577577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.85, Y:-19.12, Z:-4.62 [[ 8.76094516e-01 4.74636701e-01 8.47254427e-02 7.28508241e+01] [-4.72243168e-01 8.80180112e-01 -4.76378128e-02 -1.91215849e+01] [-9.71843040e-02 1.72421502e-03 9.95264909e-01 -4.61947659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.88, Y:-19.14, Z:-4.62 [[ 8.76187316e-01 4.74356695e-01 8.53317849e-02 7.28788038e+01] [-4.71924628e-01 8.80330911e-01 -4.80065890e-02 -1.91379044e+01] [-9.78924548e-02 1.79259355e-03 9.95195385e-01 -4.62221233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:72.91, Y:-19.15, Z:-4.63 [[ 8.76285120e-01 4.74070708e-01 8.59147987e-02 7.29070702e+01] [-4.71600878e-01 8.80484804e-01 -4.83644647e-02 -1.91542961e+01] [-9.85748508e-02 1.86356622e-03 9.95127894e-01 -4.62516911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:-19.17, Z:-4.63 [[ 8.77753045e-01 4.70750274e-01 8.91278323e-02 7.29324466e+01] [-4.68272516e-01 8.82266293e-01 -4.82393882e-02 -1.91653312e+01] [-1.01343187e-01 6.06155538e-04 9.94851341e-01 -4.63088097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.96, Y:-19.19, Z:-4.63 [[ 8.76636263e-01 4.73476593e-01 8.56082844e-02 7.29634055e+01] [-4.70941945e-01 8.80802456e-01 -4.89971188e-02 -1.91865539e+01] [-9.86029760e-02 2.63611912e-03 9.95123361e-01 -4.63110085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-19.20, Z:-4.63 [[ 8.76784583e-01 4.73200518e-01 8.56157926e-02 7.29907527e+01] [-4.70732639e-01 8.80952354e-01 -4.83087182e-02 -1.92021879e+01] [-9.82831445e-02 2.05419133e-03 9.95156372e-01 -4.63401970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.02, Y:-19.22, Z:-4.64 [[ 8.77068066e-01 4.72698742e-01 8.54839565e-02 7.30195211e+01] [-4.70233248e-01 8.81221511e-01 -4.82632551e-02 -1.92186190e+01] [-9.81442813e-02 2.13276128e-03 9.95169911e-01 -4.63801862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:-19.23, Z:-4.64 [[ 8.78340384e-01 4.69956197e-01 8.75176711e-02 7.30458949e+01] [-4.67410388e-01 8.82687385e-01 -4.88928405e-02 -1.92289117e+01] [-1.00228238e-01 2.03788776e-03 9.94962385e-01 -4.64481047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.07, Y:-19.24, Z:-4.65 [[ 8.78580352e-01 4.69585560e-01 8.70974605e-02 7.30731354e+01] [-4.66929372e-01 8.82881011e-01 -4.99808130e-02 -1.92427719e+01] [-1.00366962e-01 3.24379765e-03 9.94945200e-01 -4.64883145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:73.10, Y:-19.26, Z:-4.65 [[ 8.78282516e-01 4.69870296e-01 8.85535245e-02 7.31001193e+01] [-4.67520071e-01 8.82735449e-01 -4.69372888e-02 -1.92601646e+01] [-1.00223773e-01 -1.76349982e-04 9.94964906e-01 -4.65058289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:-19.27, Z:-4.66 [[ 8.78347230e-01 4.70306056e-01 8.55473947e-02 7.31292727e+01] [-4.67432911e-01 8.82483674e-01 -5.22402081e-02 -1.92725348e+01] [-1.00063065e-01 5.89737440e-03 9.94963619e-01 -4.65708397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.16, Y:-19.29, Z:-4.66 [[ 8.77704049e-01 4.73550146e-01 7.33884285e-02 7.31601376e+01] [-4.70312446e-01 8.80621616e-01 -5.75479979e-02 -1.92887758e+01] [-9.18792993e-02 1.59946195e-02 9.95641686e-01 -4.65909207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:73.18, Y:-19.31, Z:-4.65 [[ 8.78671905e-01 4.68168302e-01 9.35634786e-02 7.31805336e+01] [-4.67060511e-01 8.83541483e-01 -3.47696251e-02 -1.93133706e+01] [-9.89452510e-02 -1.31487133e-02 9.95006004e-01 -4.65481825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-19.33, Z:-4.66 [[ 8.78336975e-01 4.70268423e-01 8.58590014e-02 7.32117879e+01] [-4.68179111e-01 8.82522493e-01 -4.42986347e-02 -1.93291459e+01] [-9.66047490e-02 -1.28826221e-03 9.95321990e-01 -4.65660654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:-19.34, Z:-4.66 [[ 8.79743560e-01 4.67890158e-01 8.44397308e-02 7.32425131e+01] [-4.65435638e-01 8.83781926e-01 -4.79497082e-02 -1.93410588e+01] [-9.70615044e-02 2.88218705e-03 9.95274212e-01 -4.66210545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:-19.36, Z:-4.67 [[ 8.79946287e-01 4.67410012e-01 8.49847780e-02 7.32699591e+01] [-4.64918230e-01 8.84035624e-01 -4.82913657e-02 -1.93566891e+01] [-9.77014390e-02 2.98283547e-03 9.95211300e-01 -4.66508671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:73.30, Y:-19.37, Z:-4.67 [[ 8.80309293e-01 4.66684549e-01 8.52119723e-02 7.32976846e+01] [-4.64173065e-01 8.84418415e-01 -4.84503159e-02 -1.93719281e+01] [-9.79740514e-02 3.09816099e-03 9.95184147e-01 -4.66768175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-19.39, Z:-4.67 [[ 8.80849036e-01 4.65342930e-01 8.69536265e-02 7.33228840e+01] [-4.62945328e-01 8.85129495e-01 -4.71953406e-02 -1.93858237e+01] [-9.89272375e-02 1.31719512e-03 9.95093798e-01 -4.67122864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-19.40, Z:-4.67 [[ 8.81133990e-01 4.64836291e-01 8.67762287e-02 7.33512407e+01] [-4.62315128e-01 8.85392999e-01 -4.84144553e-02 -1.94006528e+01] [-9.93358611e-02 2.54165891e-03 9.95050716e-01 -4.67493604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:73.38, Y:-19.42, Z:-4.68 [[ 8.81275605e-01 4.64989229e-01 8.44886076e-02 7.33814450e+01] [-4.62325532e-01 8.85302469e-01 -4.99463711e-02 -1.94165490e+01] [-9.80224975e-02 4.95527792e-03 9.95171862e-01 -4.67691705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:-19.43, Z:-4.68 [[ 8.81737478e-01 4.64690504e-01 8.12511889e-02 7.34086003e+01] [-4.61833074e-01 8.85432830e-01 -5.21432123e-02 -1.94282521e+01] [-9.61729258e-02 8.45213811e-03 9.95328755e-01 -4.68177096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:73.43, Y:-19.45, Z:-4.68 [[ 8.80780727e-01 4.65168655e-01 8.85631633e-02 7.34346040e+01] [-4.63111595e-01 8.85218643e-01 -4.37676129e-02 -1.94518705e+01] [-9.87570849e-02 -2.46495798e-03 9.95108518e-01 -4.67843415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:-19.46, Z:-4.68 [[ 8.81027445e-01 4.65572443e-01 8.38626368e-02 7.34657693e+01] [-4.63123131e-01 8.85003697e-01 -4.78060828e-02 -1.94632623e+01] [-9.64759383e-02 3.27974404e-03 9.95329913e-01 -4.68308175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:-19.48, Z:-4.69 [[ 8.81033756e-01 4.65831457e-01 8.23442457e-02 7.34926260e+01] [-4.63565874e-01 8.84870460e-01 -4.59450701e-02 -1.94772354e+01] [-9.42666495e-02 2.30717538e-03 9.95544311e-01 -4.68598629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:-19.49, Z:-4.69 [[ 8.80932554e-01 4.66052715e-01 8.21748302e-02 7.35215561e+01] [-4.63757656e-01 8.84752978e-01 -4.62709889e-02 -1.94936840e+01] [-9.42691457e-02 2.65241380e-03 9.95543215e-01 -4.68907480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:73.55, Y:-19.51, Z:-4.69 [[ 8.80933599e-01 4.65904279e-01 8.30011927e-02 7.35521187e+01] [-4.63458531e-01 8.84827579e-01 -4.78157445e-02 -1.95088008e+01] [-9.57193043e-02 3.65488508e-03 9.95401656e-01 -4.69327502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:-19.52, Z:-4.70 [[ 8.79955654e-01 4.67434080e-01 8.47551045e-02 7.35760067e+01] [-4.65159681e-01 8.84027228e-01 -4.60687603e-02 -1.95223352e+01] [-9.64599287e-02 1.11380870e-03 9.95336245e-01 -4.69625167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:-19.54, Z:-4.70 [[ 8.80221668e-01 4.67542471e-01 8.13256006e-02 7.36094072e+01] [-4.65126377e-01 8.83961035e-01 -4.76481121e-02 -1.95373375e+01] [-9.41661781e-02 4.11421871e-03 9.95547992e-01 -4.69932810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:-19.55, Z:-4.70 [[ 8.79880650e-01 4.68137126e-01 8.15945673e-02 7.36384908e+01] [-4.65810149e-01 8.83650389e-01 -4.67214610e-02 -1.95534523e+01] [-9.39731217e-02 3.10173192e-03 9.95569903e-01 -4.70238042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:-19.57, Z:-4.71 [[ 8.80049546e-01 4.68022493e-01 8.04222794e-02 7.36669249e+01] [-4.65602741e-01 8.83704696e-01 -4.77503671e-02 -1.95673929e+01] [-9.34177918e-02 4.57785514e-03 9.95616472e-01 -4.70658150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:-19.58, Z:-4.71 [[ 8.78951555e-01 4.70083490e-01 8.04094270e-02 7.36948844e+01] [-4.67970397e-01 8.82620634e-01 -4.45480056e-02 -1.95829086e+01] [-9.19123014e-02 1.52630737e-03 9.95765936e-01 -4.70574296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:-19.60, Z:-4.71 [[ 8.78607251e-01 4.70879356e-01 7.95105696e-02 7.37236152e+01] [-4.68676062e-01 8.82193217e-01 -4.55837267e-02 -1.95974459e+01] [-9.16081211e-02 2.78549217e-03 9.95791240e-01 -4.70860346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.75, Y:-19.61, Z:-4.71 [[ 8.78167396e-01 4.71702563e-01 7.94903551e-02 7.37528035e+01] [-4.69501034e-01 8.81753518e-01 -4.56016782e-02 -1.96129400e+01] [-9.16013288e-02 2.72510315e-03 9.95792032e-01 -4.71130368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:-19.64, Z:-4.71 [[ 8.77431403e-01 4.72141855e-01 8.48304273e-02 7.37805131e+01] [-4.70938672e-01 8.81473633e-01 -3.49428324e-02 -1.96354424e+01] [-9.12737586e-02 -9.28999037e-03 9.95782505e-01 -4.70873789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:-19.64, Z:-4.72 [[ 8.76609398e-01 4.74897402e-01 7.76429030e-02 7.38132310e+01] [-4.72396375e-01 8.80018243e-01 -4.90872368e-02 -1.96409435e+01] [-9.16385723e-02 6.35210725e-03 9.95772074e-01 -4.71785855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:-19.66, Z:-4.72 [[ 8.76334218e-01 4.75200237e-01 7.88864601e-02 7.38408988e+01] [-4.73016877e-01 8.79873765e-01 -4.55762152e-02 -1.96572772e+01] [-9.10679550e-02 2.62536989e-03 9.95841220e-01 -4.71874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-19.67, Z:-4.72 [[ 8.75981932e-01 4.76100756e-01 7.73545416e-02 7.38708030e+01] [-4.73672082e-01 8.79372074e-01 -4.83685208e-02 -1.96712600e+01] [-9.10517131e-02 5.72926353e-03 9.95829685e-01 -4.72350296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-19.69, Z:-4.73 [[ 8.75211144e-01 4.77555990e-01 7.71085594e-02 7.38991641e+01] [-4.75339252e-01 8.78593518e-01 -4.61088408e-02 -1.96860118e+01] [-8.97666336e-02 3.70224632e-03 9.95955945e-01 -4.72502793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:-19.69, Z:-4.73 [[ 8.74422440e-01 4.79114880e-01 7.63827696e-02 7.39244348e+01] [-4.76466656e-01 8.77714177e-01 -5.09641944e-02 -1.96942796e+01] [-9.14599436e-02 8.17039242e-03 9.95775237e-01 -4.73149751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-19.72, Z:-4.73 [[ 8.74951802e-01 4.77625733e-01 7.95801701e-02 7.39545686e+01] [-4.75681788e-01 8.78563386e-01 -4.30489714e-02 -1.97154116e+01] [-9.04775202e-02 -1.89062485e-04 9.95898480e-01 -4.73103578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:-19.73, Z:-4.73 [[ 8.73887411e-01 4.79956285e-01 7.72188935e-02 7.39817578e+01] [-4.77652307e-01 8.77281677e-01 -4.71713194e-02 -1.97263996e+01] [-9.03828916e-02 4.33863960e-03 9.95897640e-01 -4.73467921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-19.74, Z:-4.74 [[ 8.74648097e-01 4.78557229e-01 7.72896150e-02 7.40127245e+01] [-4.76355692e-01 8.78049799e-01 -4.59761418e-02 -1.97414931e+01] [-8.98663458e-02 3.39559687e-03 9.95948046e-01 -4.73820500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:-19.76, Z:-4.74 [[ 8.74610169e-01 4.78682932e-01 7.69396073e-02 7.40417347e+01] [-4.76429045e-01 8.77978363e-01 -4.65763880e-02 -1.97565969e+01] [-8.98466324e-02 4.07991900e-03 9.95947256e-01 -4.74124029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:-19.77, Z:-4.75 [[ 8.74780896e-01 4.78435252e-01 7.65381872e-02 7.40703261e+01] [-4.75864834e-01 8.78091801e-01 -5.00744312e-02 -1.97689457e+01] [-9.11649277e-02 7.38232404e-03 9.95808444e-01 -4.74628124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:-19.78, Z:-4.75 [[ 8.74331986e-01 4.78403439e-01 8.16928888e-02 7.40959285e+01] [-4.76416929e-01 8.78139769e-01 -4.35597966e-02 -1.97847149e+01] [-9.25769310e-02 -8.34151724e-04 9.95705185e-01 -4.74600728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-19.79, Z:-4.75 [[ 8.74915490e-01 4.77863343e-01 7.85462350e-02 7.41246323e+01] [-4.75436592e-01 8.78420179e-01 -4.83532372e-02 -1.97939520e+01] [-9.21028374e-02 4.96124193e-03 9.95737141e-01 -4.75189231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-19.81, Z:-4.75 [[ 8.75207345e-01 4.76899695e-01 8.11097065e-02 7.41530480e+01] [-4.74855671e-01 8.78957720e-01 -4.41068984e-02 -1.98106145e+01] [-9.23265691e-02 8.72773089e-05 9.95728777e-01 -4.75377534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:-19.82, Z:-4.76 [[ 8.76418174e-01 4.75454616e-01 7.63812289e-02 7.41875406e+01] [-4.72989993e-01 8.79715162e-01 -4.88026723e-02 -1.98232313e+01] [-9.03971809e-02 6.64399200e-03 9.95883631e-01 -4.75869572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:-19.84, Z:-4.76 [[ 8.77142265e-01 4.73844405e-01 7.80572018e-02 7.42146328e+01] [-4.71528732e-01 8.80597510e-01 -4.69965966e-02 -1.98372651e+01] [-9.10060520e-02 4.41648783e-03 9.95840546e-01 -4.76133068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:-19.85, Z:-4.76 [[ 8.77588691e-01 4.72971249e-01 7.83344565e-02 7.42429700e+01] [-4.70811063e-01 8.81073343e-01 -4.52405606e-02 -1.98519337e+01] [-9.04158859e-02 2.82187566e-03 9.95900098e-01 -4.76343330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:-19.86, Z:-4.77 [[ 8.78580541e-01 4.71618440e-01 7.53145358e-02 7.42749458e+01] [-4.68691651e-01 8.81721379e-01 -5.38102857e-02 -1.98571399e+01] [-9.17843594e-02 1.19773758e-02 9.95706871e-01 -4.77195128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:-19.88, Z:-4.77 [[ 8.78705617e-01 4.70446195e-01 8.09741689e-02 7.42996442e+01] [-4.69027314e-01 8.82411346e-01 -3.69268938e-02 -1.98803371e+01] [-8.88246420e-02 -5.53122794e-03 9.96031921e-01 -4.76650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:-19.89, Z:-4.77 [[ 8.78914231e-01 4.70511756e-01 7.82844940e-02 7.43279778e+01] [-4.68577170e-01 8.82393375e-01 -4.26305861e-02 -1.98893274e+01] [-8.91359108e-02 7.86302107e-04 9.96019162e-01 -4.77082874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.36, Y:-19.90, Z:-4.78 [[ 8.80171867e-01 4.68835896e-01 7.40971551e-02 7.43618198e+01] [-4.66653056e-01 8.83268238e-01 -4.55208258e-02 -1.98997153e+01] [-8.67894608e-02 5.48848632e-03 9.96211557e-01 -4.77531772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:-19.91, Z:-4.78 [[ 8.80969264e-01 4.67144357e-01 7.52947875e-02 7.43906456e+01] [-4.65096860e-01 8.84173732e-01 -4.38374550e-02 -1.99138517e+01] [-8.70520930e-02 3.60008130e-03 9.96197256e-01 -4.77758354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:-19.93, Z:-4.78 [[ 8.81601889e-01 4.65925223e-01 7.54439949e-02 7.44194664e+01] [-4.63961605e-01 8.84819837e-01 -4.28192191e-02 -1.99286687e+01] [-8.67048975e-02 2.74638746e-03 9.96230254e-01 -4.77939460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:-19.95, Z:-4.78 [[ 8.82008815e-01 4.64364603e-01 8.01621244e-02 7.44450415e+01] [-4.62881464e-01 8.85634218e-01 -3.73200051e-02 -1.99453673e+01] [-8.83244097e-02 -4.18898805e-03 9.96082954e-01 -4.77874439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:-19.95, Z:-4.79 [[ 8.84114501e-01 4.62065744e-01 6.95470852e-02 7.44816855e+01] [-4.59006507e-01 8.86673178e-01 -5.58900890e-02 -1.99461358e+01] [-8.74904306e-02 1.74906735e-02 9.96011798e-01 -4.78959578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-19.97, Z:-4.79 [[ 8.84430122e-01 4.60431963e-01 7.60642323e-02 7.45080135e+01] [-4.58388897e-01 8.87687765e-01 -4.34747233e-02 -1.99664902e+01] [-8.75384405e-02 3.58335524e-03 9.96154697e-01 -4.78799563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-19.98, Z:-4.79 [[ 8.84779791e-01 4.59708657e-01 7.63719291e-02 7.45371657e+01] [-4.57547240e-01 8.88057521e-01 -4.47701053e-02 -1.99783878e+01] [-8.84038710e-02 4.66791907e-03 9.96073775e-01 -4.79147652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:-19.99, Z:-4.80 [[ 8.84724575e-01 4.60024297e-01 7.51004127e-02 7.45692163e+01] [-4.57274680e-01 8.87835962e-01 -5.14506736e-02 -1.99862618e+01] [-9.03454071e-02 1.11781582e-02 9.95847758e-01 -4.79763184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:-20.00, Z:-4.80 [[ 8.84326281e-01 4.60744951e-01 7.53732045e-02 7.45981998e+01] [-4.57828870e-01 8.87443186e-01 -5.32664794e-02 -1.99976153e+01] [-9.14316981e-02 1.25969186e-02 9.95731672e-01 -4.80345078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:-20.02, Z:-4.80 [[ 8.83102161e-01 4.61865516e-01 8.25276839e-02 7.46223127e+01] [-4.60667532e-01 8.86915211e-01 -3.41589449e-02 -2.00228849e+01] [-8.89718969e-02 -7.85198644e-03 9.96003187e-01 -4.79688244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:-20.03, Z:-4.80 [[ 8.81634855e-01 4.65403589e-01 7.82271170e-02 7.46548166e+01] [-4.63742698e-01 8.85097110e-01 -3.93168616e-02 -2.00309819e+01] [-8.75368037e-02 -1.61413879e-03 9.96159978e-01 -4.80085472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:-20.06, Z:-4.79 [[ 8.79619072e-01 4.69020133e-01 7.93120632e-02 7.46799637e+01] [-4.68851926e-01 8.83005461e-01 -2.18912806e-02 -2.00566467e+01] [-8.03004362e-02 -1.79296256e-02 9.96609436e-01 -4.78705658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-20.04, Z:-4.82 [[ 8.80188205e-01 4.70919553e-01 5.91903511e-02 7.47214011e+01] [-4.66544484e-01 8.81362746e-01 -7.44039975e-02 -2.00382815e+01] [-8.72064677e-02 3.78745892e-02 9.95470013e-01 -4.81994027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73361786499999 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:74.74, Y:-20.06, Z:-4.82 [[ 8.78739236e-01 4.71835555e-01 7.20316834e-02 7.47435560e+01] [-4.68832457e-01 8.81564289e-01 -5.51410214e-02 -2.00636472e+01] [-8.95180541e-02 1.46837880e-02 9.95876952e-01 -4.81992978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:74.77, Y:-20.08, Z:-4.82 [[ 8.77282430e-01 4.73814345e-01 7.66518416e-02 7.47712244e+01] [-4.71721769e-01 8.80619817e-01 -4.45792634e-02 -2.00811937e+01] [-8.86234252e-02 2.95026218e-03 9.96060834e-01 -4.81882849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:-20.11, Z:-4.80 [[ 8.76597932e-01 4.72172900e-01 9.28914344e-02 7.47888503e+01] [-4.73503257e-01 8.80750533e-01 -8.55362067e-03 -2.01140509e+01] [-8.58529682e-02 -3.64863105e-02 9.95639502e-01 -4.80240225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-20.11, Z:-4.82 [[ 8.76094062e-01 4.76497929e-01 7.35453517e-02 7.48273965e+01] [-4.74577000e-01 8.79171708e-01 -4.28226496e-02 -2.01112542e+01] [-8.50638963e-02 2.61373667e-03 9.96372070e-01 -4.81500914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-20.12, Z:-4.82 [[ 8.75833625e-01 4.76898615e-01 7.40484458e-02 7.48564333e+01] [-4.74950375e-01 8.78954416e-01 -4.31424991e-02 -2.01246798e+01] [-8.56598065e-02 2.61631435e-03 9.96321009e-01 -4.81759205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-20.11, Z:-4.85 [[ 8.77449647e-01 4.74981578e-01 6.68925876e-02 7.48909916e+01] [-4.70019946e-01 8.79228149e-01 -7.77117246e-02 -2.01148679e+01] [-9.57254835e-02 3.67472749e-02 9.94729244e-01 -4.84559009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:-20.17, Z:-4.81 [[ 8.75965947e-01 4.73596095e-01 9.15991154e-02 7.49048327e+01] [-4.74565240e-01 8.80134595e-01 -1.22852507e-02 -2.01699506e+01] [-8.64377971e-02 -3.27082949e-02 9.95720179e-01 -4.81438647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-20.14, Z:-4.85 [[ 8.78146308e-01 4.73849790e-01 6.57680622e-02 7.49491702e+01] [-4.68738601e-01 8.79734889e-01 -7.96909616e-02 -2.01431169e+01] [-9.56200043e-02 3.91522943e-02 9.94647632e-01 -4.85174040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-20.18, Z:-4.85 [[ 8.77978864e-01 4.71166651e-01 8.45878307e-02 7.49672898e+01] [-4.68970316e-01 8.82044180e-01 -4.54412601e-02 -2.01766646e+01] [-9.60206101e-02 2.27284259e-04 9.95379320e-01 -4.84534884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-20.20, Z:-4.84 [[ 8.77277422e-01 4.72514191e-01 8.43484623e-02 7.49937110e+01] [-4.71433105e-01 8.81262694e-01 -3.35692039e-02 -2.02001004e+01] [-9.01950784e-02 -1.03151528e-02 9.95870697e-01 -4.83769375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:-20.21, Z:-4.84 [[ 8.77760927e-01 4.72558841e-01 7.88916827e-02 7.50244729e+01] [-4.70461734e-01 8.81296950e-01 -4.45134126e-02 -2.02081475e+01] [-9.05622060e-02 1.95661647e-03 9.95888879e-01 -4.84483508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:-20.22, Z:-4.85 [[ 8.78024990e-01 4.72338858e-01 7.72536101e-02 7.50539802e+01] [-4.69448805e-01 8.81355083e-01 -5.32074896e-02 -2.02175889e+01] [-9.32198268e-02 1.04508906e-02 9.95590700e-01 -4.85377074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-20.24, Z:-4.85 [[ 8.78015541e-01 4.72430330e-01 7.68003461e-02 7.50803822e+01] [-4.70316450e-01 8.81362302e-01 -4.47541060e-02 -2.02378026e+01] [-8.88321269e-02 3.17433445e-03 9.96041554e-01 -4.85197699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:-20.27, Z:-4.84 [[ 8.76552040e-01 4.73188002e-01 8.80320216e-02 7.51028900e+01] [-4.73671510e-01 8.80544295e-01 -1.66447051e-02 -2.02714491e+01] [-8.53921691e-02 -2.71083103e-02 9.95978573e-01 -4.83880785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-20.26, Z:-4.86 [[ 8.77445379e-01 4.75020556e-01 6.66714198e-02 7.51412250e+01] [-4.71288656e-01 8.79613067e-01 -6.45589252e-02 -2.02565643e+01] [-8.93118686e-02 2.52254468e-02 9.95684221e-01 -4.86212974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:75.16, Y:-20.28, Z:-4.85 [[ 8.77190050e-01 4.75547046e-01 6.62768703e-02 7.51640177e+01] [-4.73236218e-01 8.79624187e-01 -4.80496762e-02 -2.02790507e+01] [-8.11486197e-02 1.07840825e-02 9.96643670e-01 -4.85393073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21361786499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.19, Y:-20.30, Z:-4.86 [[ 8.76909284e-01 4.74352629e-01 7.75866688e-02 7.51923078e+01] [-4.72235260e-01 8.80330817e-01 -4.48498832e-02 -2.02971158e+01] [-8.95765955e-02 2.69011821e-03 9.95976303e-01 -4.86338037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:-20.32, Z:-4.86 [[ 8.75951950e-01 4.75879210e-01 7.90389724e-02 7.52182202e+01] [-4.74007921e-01 8.79510486e-01 -4.21639200e-02 -2.03156392e+01] [-8.95805380e-02 -5.31531010e-04 9.95979440e-01 -4.86484832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-20.33, Z:-4.87 [[ 8.76498511e-01 4.76391644e-01 6.92918676e-02 7.52494745e+01] [-4.73946074e-01 8.79171873e-01 -4.93146679e-02 -2.03256511e+01] [-8.44125567e-02 1.03836243e-02 9.96376786e-01 -4.86816613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-20.37, Z:-4.85 [[ 8.74273363e-01 4.77651805e-01 8.65727401e-02 7.52675914e+01] [-4.79014014e-01 8.77789127e-01 -5.64113066e-03 -2.03708085e+01] [-7.86871062e-02 -3.65376654e-02 9.96229561e-01 -4.84707558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33361786499998 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:75.30, Y:-20.36, Z:-4.86 [[ 8.72253702e-01 4.85092779e-01 6.21166298e-02 7.53037173e+01] [-4.82963457e-01 8.74397430e-01 -4.66415465e-02 -2.03642933e+01] [-7.69400988e-02 1.06831993e-02 9.96978480e-01 -4.85905184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:-20.39, Z:-4.86 [[ 8.71805538e-01 4.84482467e-01 7.23314734e-02 7.53291644e+01] [-4.83696434e-01 8.74748961e-01 -2.91892959e-02 -2.03906238e+01] [-7.74135833e-02 -9.53908591e-03 9.96953431e-01 -4.85557053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:-20.40, Z:-4.86 [[ 8.71735455e-01 4.85451626e-01 6.64380657e-02 7.53607139e+01] [-4.83871287e-01 8.74261204e-01 -3.91908811e-02 -2.04023903e+01] [-7.71095003e-02 2.01660822e-03 9.97020591e-01 -4.86091078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:-20.42, Z:-4.86 [[ 8.69918463e-01 4.88735847e-01 6.61750644e-02 7.53900687e+01] [-4.87228972e-01 8.72431080e-01 -3.83658736e-02 -2.04212369e+01] [-7.64839606e-02 1.13277320e-03 9.97070168e-01 -4.86253751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45361786499998 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:75.42, Y:-20.43, Z:-4.87 [[ 8.66775470e-01 4.95273855e-01 5.83446090e-02 7.54202580e+01] [-4.92382955e-01 8.68481772e-01 -5.74320213e-02 -2.04259338e+01] [-7.91158080e-02 2.10527763e-02 9.96643100e-01 -4.87360470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-20.46, Z:-4.86 [[ 8.65232178e-01 4.95396800e-01 7.71705222e-02 7.54375308e+01] [-4.95241750e-01 8.68464152e-01 -2.24860986e-02 -2.04612609e+01] [-7.81593735e-02 -1.87623684e-02 9.96764308e-01 -4.86346254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:-20.45, Z:-4.89 [[ 8.64194064e-01 4.99510517e-01 6.04802775e-02 7.54748597e+01] [-4.96117894e-01 8.65961275e-01 -6.30722241e-02 -2.04538543e+01] [-8.38788175e-02 2.45012938e-02 9.96174699e-01 -4.88541252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:-20.49, Z:-4.87 [[ 8.60115838e-01 5.04389817e-01 7.61029435e-02 7.54940211e+01] [-5.03940348e-01 8.63334527e-01 -2.64125008e-02 -2.04925889e+01] [-7.90244951e-02 -1.56335336e-02 9.96750080e-01 -4.87201472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-20.50, Z:-4.87 [[ 8.58515516e-01 5.08038863e-01 6.96248704e-02 7.55225733e+01] [-5.07030798e-01 8.61304388e-01 -3.27798781e-02 -2.05049394e+01] [-7.66216584e-02 -7.15991964e-03 9.97034532e-01 -4.87308621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-20.52, Z:-4.88 [[ 8.57124922e-01 5.10807209e-01 6.64293942e-02 7.55523928e+01] [-5.09283388e-01 8.59695292e-01 -3.94263381e-02 -2.05183999e+01] [-7.72482951e-02 -3.80900215e-05 9.97011885e-01 -4.87759189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:-20.54, Z:-4.88 [[ 8.55337571e-01 5.13797028e-01 6.64097467e-02 7.55800330e+01] [-5.12281137e-01 8.57911728e-01 -3.94398857e-02 -2.05357886e+01] [-7.72377966e-02 -2.86044537e-04 9.97012658e-01 -4.87976585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:-20.55, Z:-4.88 [[ 8.54880860e-01 5.14572046e-01 6.62897012e-02 7.56067319e+01] [-5.13062017e-01 8.57447082e-01 -3.93937605e-02 -2.05526706e+01] [-7.71108388e-02 -3.33755890e-04 9.97022471e-01 -4.88259113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:-20.56, Z:-4.89 [[ 8.55201378e-01 5.14370678e-01 6.36663950e-02 7.56364853e+01] [-5.12089467e-01 8.57514404e-01 -4.93297562e-02 -2.05642661e+01] [-7.99686309e-02 9.58398525e-03 9.96751306e-01 -4.89217593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-20.60, Z:-4.88 [[ 8.55225592e-01 5.12913889e-01 7.42194678e-02 7.56565657e+01] [-5.12606133e-01 8.58271515e-01 -2.45959318e-02 -2.05993168e+01] [-7.63160501e-02 -1.70102840e-02 9.96938569e-01 -4.88334494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.69, Y:-20.60, Z:-4.89 [[ 8.56476311e-01 5.12431797e-01 6.21448431e-02 7.56883225e+01] [-5.10453437e-01 8.58696796e-01 -4.55752281e-02 -2.06040496e+01] [-7.67177737e-02 7.31205450e-03 9.97026036e-01 -4.89170815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-20.63, Z:-4.89 [[ 8.57289836e-01 5.10617251e-01 6.57583432e-02 7.57134873e+01] [-5.09113625e-01 8.59808126e-01 -3.91574126e-02 -2.06256721e+01] [-7.65340083e-02 9.07833826e-05 9.97066967e-01 -4.89272898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-20.64, Z:-4.91 [[ 8.60013543e-01 5.06374885e-01 6.29379140e-02 7.57422230e+01] [-5.03759479e-01 8.62197485e-01 -5.33093215e-02 -2.06361963e+01] [-8.12594127e-02 1.41411677e-02 9.96592663e-01 -4.90611084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:-20.67, Z:-4.90 [[ 8.60995124e-01 5.03360445e-01 7.29085618e-02 7.57613484e+01] [-5.02804182e-01 8.63974268e-01 -2.71370404e-02 -2.06683365e+01] [-7.66508340e-02 -1.32938704e-02 9.96969369e-01 -4.89548058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-20.68, Z:-4.90 [[ 8.62235254e-01 5.02238410e-01 6.56273360e-02 7.57915167e+01] [-5.00712334e-01 8.64728746e-01 -3.91325368e-02 -2.06807347e+01] [-7.64037070e-02 8.81036194e-04 9.97076575e-01 -4.90152524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:-20.70, Z:-4.90 [[ 8.63712612e-01 4.99723717e-01 6.53967133e-02 7.58176748e+01] [-4.98199265e-01 8.66184131e-01 -3.90197830e-02 -2.06996443e+01] [-7.61447063e-02 1.12128425e-03 9.97096147e-01 -4.90412741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-20.72, Z:-4.91 [[ 8.66480843e-01 4.94854377e-01 6.58034502e-02 7.58426521e+01] [-4.93295706e-01 8.68974496e-01 -3.92768645e-02 -2.07213727e+01] [-7.66178482e-02 1.57209128e-03 9.97059293e-01 -4.90650067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-20.74, Z:-4.91 [[ 8.67540563e-01 4.93009854e-01 6.56860312e-02 7.58689495e+01] [-4.91449503e-01 8.70021957e-01 -3.92323815e-02 -2.07398086e+01] [-7.64902401e-02 1.75431497e-03 9.97068787e-01 -4.90901312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.90, Y:-20.76, Z:-4.91 [[ 8.68328465e-01 4.91624564e-01 6.56579354e-02 7.58964898e+01] [-4.90060464e-01 8.70805215e-01 -3.92303347e-02 -2.07583359e+01] [-7.64618687e-02 1.88845797e-03 9.97070718e-01 -4.91174418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:-20.78, Z:-4.91 [[ 8.69129874e-01 4.90259919e-01 6.52569814e-02 7.59222777e+01] [-4.88709158e-01 8.71573944e-01 -3.90156377e-02 -2.07777838e+01] [-7.60040880e-02 2.01797182e-03 9.97105464e-01 -4.91479661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-20.80, Z:-4.92 [[ 8.68758017e-01 4.90957739e-01 6.49615793e-02 7.59492316e+01] [-4.89421875e-01 8.71181184e-01 -3.88532305e-02 -2.07965701e+01] [-7.56685998e-02 1.96043750e-03 9.97131095e-01 -4.91717935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08361786499998 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:75.98, Y:-20.81, Z:-4.92 [[ 8.67824453e-01 4.93999096e-01 5.33442890e-02 7.59772964e+01] [-4.91797407e-01 8.69301628e-01 -4.94973745e-02 -2.08075151e+01] [-7.08239355e-02 1.67204488e-02 9.97348684e-01 -4.92188228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11361786499998 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:76.00, Y:-20.83, Z:-4.92 [[ 8.65976226e-01 4.96192194e-01 6.22774684e-02 7.59985784e+01] [-4.94928252e-01 8.68212691e-01 -3.53941786e-02 -2.08346709e+01] [-7.16324035e-02 -1.72361328e-04 9.97431085e-01 -4.92028100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-20.85, Z:-4.93 [[ 8.65031967e-01 4.97707996e-01 6.32964975e-02 7.60266395e+01] [-4.96217950e-01 8.67342525e-01 -3.85316861e-02 -2.08511597e+01] [-7.40772722e-02 1.92228202e-03 9.97250652e-01 -4.92682375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:-20.88, Z:-4.92 [[ 8.63260096e-01 4.99611936e-01 7.19021554e-02 7.60499386e+01] [-4.99638807e-01 8.66027484e-01 -1.89065744e-02 -2.08829714e+01] [-7.17151930e-02 -1.96038159e-02 9.97232481e-01 -4.91541993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-20.89, Z:-4.93 [[ 8.60281934e-01 5.06852438e-01 5.49144872e-02 7.60826139e+01] [-5.04996004e-01 8.61966842e-01 -4.46340563e-02 -2.08887936e+01] [-6.99573473e-02 1.06662757e-02 9.97492957e-01 -4.92562755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-20.91, Z:-4.93 [[ 8.60193989e-01 5.06060482e-01 6.30007086e-02 7.61088221e+01] [-5.04126523e-01 8.62472016e-01 -4.47042535e-02 -2.09065334e+01] [-7.69594043e-02 6.69400201e-03 9.97011755e-01 -4.93414338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:-20.94, Z:-4.92 [[ 8.57936361e-01 5.09005269e-01 6.97053516e-02 7.61292778e+01] [-5.08771912e-01 8.60610001e-01 -2.23957350e-02 -2.09392407e+01] [-7.13886698e-02 -1.62500096e-02 9.97316196e-01 -4.92077215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-20.95, Z:-4.93 [[ 8.56335508e-01 5.12809147e-01 6.09612612e-02 7.61588039e+01] [-5.11483788e-01 8.58502556e-01 -3.68469178e-02 -2.09524468e+01] [-7.12308351e-02 3.72627341e-04 9.97459788e-01 -4.92698865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:-20.96, Z:-4.94 [[ 8.56094627e-01 5.14091027e-01 5.30321175e-02 7.61893421e+01] [-5.11575550e-01 8.57515616e-01 -5.43822190e-02 -2.09590433e+01] [-7.34332797e-02 1.94263908e-02 9.97110911e-01 -4.94267265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:-20.99, Z:-4.94 [[ 8.55552360e-01 5.13627524e-01 6.49378685e-02 7.62119134e+01] [-5.12484779e-01 8.58004840e-01 -3.44535291e-02 -2.09905117e+01] [-7.34132863e-02 -3.80287113e-03 9.97294354e-01 -4.93752213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:76.24, Y:-21.01, Z:-4.94 [[ 8.54350916e-01 5.16568066e-01 5.69380864e-02 7.62368934e+01] [-5.15060482e-01 8.56233803e-01 -3.97035769e-02 -2.10079748e+01] [-6.92619142e-02 4.59422901e-03 9.97587931e-01 -4.93700399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-21.02, Z:-4.94 [[ 8.54575271e-01 5.16360255e-01 5.54363837e-02 7.62627797e+01] [-5.14470856e-01 8.56310894e-01 -4.52922818e-02 -2.10219801e+01] [-7.08579135e-02 1.01852602e-02 9.97434417e-01 -4.94384196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-21.05, Z:-4.94 [[ 8.54163085e-01 5.16601779e-01 5.93971916e-02 7.62859687e+01] [-5.15667594e-01 8.56216924e-01 -3.12971496e-02 -2.10512895e+01] [-6.70250438e-02 -3.89633705e-03 9.97743686e-01 -4.93815828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:-21.07, Z:-4.94 [[ 8.54441238e-01 5.16104436e-01 5.97191926e-02 7.63117001e+01] [-5.15198672e-01 8.56514437e-01 -3.08763356e-02 -2.10710907e+01] [-6.70857644e-02 -4.38523429e-03 9.97737576e-01 -4.93895130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50361786499998 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:76.34, Y:-21.09, Z:-4.94 [[ 8.54627015e-01 5.16099982e-01 5.70392335e-02 7.63356457e+01] [-5.15097037e-01 8.56526347e-01 -3.22127242e-02 -2.10918746e+01] [-6.54805927e-02 -1.85087581e-03 9.97852126e-01 -4.93924286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-21.11, Z:-4.94 [[ 8.54774575e-01 5.15783453e-01 5.76875706e-02 7.63601522e+01] [-5.15066135e-01 8.56698509e-01 -2.78305780e-02 -2.11132203e+01] [-6.37754073e-02 -5.92404353e-03 9.97946694e-01 -4.93924037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56361786499998 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:76.39, Y:-21.12, Z:-4.96 [[ 8.55122017e-01 5.15511081e-01 5.49059300e-02 7.63906519e+01] [-5.13619964e-01 8.56817388e-01 -4.53706585e-02 -2.11249969e+01] [-7.04334327e-02 1.05966673e-02 9.97460196e-01 -4.95507336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:-21.16, Z:-4.95 [[ 8.57946331e-01 5.09879487e-01 6.28569908e-02 7.64134359e+01] [-5.09447338e-01 8.60169068e-01 -2.39287347e-02 -2.11552799e+01] [-6.62684102e-02 -1.14927565e-02 9.97735644e-01 -4.94686771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:-21.17, Z:-4.95 [[ 8.58456577e-01 5.09830106e-01 5.59067843e-02 7.64435615e+01] [-5.08698425e-01 8.60274814e-01 -3.39581486e-02 -2.11691973e+01] [-6.54080850e-02 7.11902886e-04 9.97858344e-01 -4.95286893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:-21.19, Z:-4.96 [[ 8.59217363e-01 5.08588022e-01 5.55314864e-02 7.64691256e+01] [-5.07334189e-01 8.61006160e-01 -3.57828625e-02 -2.11859399e+01] [-6.60116871e-02 2.57223518e-03 9.97815534e-01 -4.95643913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:-21.21, Z:-4.96 [[ 8.59812172e-01 5.07473287e-01 5.65145183e-02 7.64950753e+01] [-5.06407781e-01 8.61667415e-01 -3.28698204e-02 -2.12069368e+01] [-6.53772747e-02 -3.57520133e-04 9.97860553e-01 -4.95672193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-21.24, Z:-4.95 [[ 8.60037286e-01 5.06897757e-01 5.82282578e-02 7.65164611e+01] [-5.06658754e-01 8.61917113e-01 -1.98946504e-02 -2.12357310e+01] [-6.02724855e-02 -1.23917155e-02 9.98105041e-01 -4.94596312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-21.25, Z:-4.96 [[ 8.60636881e-01 5.06567076e-01 5.19033443e-02 7.65463296e+01] [-5.05567210e-01 8.62199780e-01 -3.18329278e-02 -2.12484977e+01] [-6.08765652e-02 1.15596273e-03 9.98144633e-01 -4.95510748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.58, Y:-21.26, Z:-4.96 [[ 8.61439477e-01 5.05825623e-01 4.54143821e-02 7.65751657e+01] [-5.04618458e-01 8.62599246e-01 -3.58155208e-02 -2.12648953e+01] [-5.72908199e-02 7.93596798e-03 9.98325990e-01 -4.96082536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:-21.28, Z:-4.96 [[ 8.62099373e-01 5.04589935e-01 4.66226070e-02 7.66018790e+01] [-5.03453203e-01 8.63336908e-01 -3.44130129e-02 -2.12837462e+01] [-5.76154773e-02 6.19513605e-03 9.98319627e-01 -4.96131415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:-21.31, Z:-4.96 [[ 8.61612875e-01 5.04994942e-01 5.10231423e-02 7.66249192e+01] [-5.04285483e-01 8.63118481e-01 -2.68819702e-02 -2.13076262e+01] [-5.76142761e-02 -2.56837831e-03 9.98335614e-01 -4.95959007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:-21.33, Z:-4.96 [[ 8.61448186e-01 5.04995363e-01 5.37280808e-02 7.66500260e+01] [-5.04316142e-01 8.63111612e-01 -2.65249673e-02 -2.13257084e+01] [-5.97683159e-02 -4.24605354e-03 9.98203246e-01 -4.96081282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-21.34, Z:-4.97 [[ 8.61341087e-01 5.05704167e-01 4.85265662e-02 7.66798005e+01] [-5.04079848e-01 8.62624929e-01 -4.22106444e-02 -2.13382568e+01] [-6.32063245e-02 1.18964982e-02 9.97929574e-01 -4.97029452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.70, Y:-21.36, Z:-4.97 [[ 8.61249671e-01 5.05672843e-01 5.04378943e-02 7.67048695e+01] [-5.04296412e-01 8.62694580e-01 -3.79893374e-02 -2.13590765e+01] [-6.27226743e-02 7.28265522e-03 9.98004423e-01 -4.97053256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:-21.38, Z:-4.97 [[ 8.60717475e-01 5.05847853e-01 5.73007634e-02 7.67279971e+01] [-5.05051989e-01 8.62612230e-01 -2.86814974e-02 -2.13824444e+01] [-6.39368131e-02 -4.25319854e-03 9.97944885e-01 -4.96759800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:-21.40, Z:-4.97 [[ 8.60770376e-01 5.06086917e-01 5.43175184e-02 7.67554087e+01] [-5.04943856e-01 8.62480435e-01 -3.40470483e-02 -2.13981360e+01] [-6.40785626e-02 1.87939336e-03 9.97943087e-01 -4.97161431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-21.42, Z:-4.97 [[ 8.60164449e-01 5.07059009e-01 5.48478108e-02 7.67818267e+01] [-5.05957068e-01 8.61910761e-01 -3.34258286e-02 -2.14164216e+01] [-6.42227859e-02 1.00107186e-03 9.97935084e-01 -4.97347337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:76.81, Y:-21.44, Z:-4.97 [[ 8.60098361e-01 5.07434846e-01 5.23515597e-02 7.68101759e+01] [-5.06449301e-01 8.61689859e-01 -3.16179040e-02 -2.14389014e+01] [-6.11548344e-02 6.81096551e-04 9.98128059e-01 -4.97234613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:-21.45, Z:-4.98 [[ 8.59913626e-01 5.08310617e-01 4.65711557e-02 7.68393010e+01] [-5.06792344e-01 8.61095679e-01 -4.09359473e-02 -2.14510032e+01] [-6.09103975e-02 1.15994738e-02 9.98075837e-01 -4.98002168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.86, Y:-21.48, Z:-4.97 [[ 8.58302419e-01 5.09730987e-01 5.90870428e-02 7.68579295e+01] [-5.09527344e-01 8.60231255e-01 -1.95977798e-02 -2.14802319e+01] [-6.08181166e-02 -1.32856422e-02 9.98060443e-01 -4.97074073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.89, Y:-21.49, Z:-4.98 [[ 8.57689499e-01 5.11560053e-01 5.17207391e-02 7.68885603e+01] [-5.10558133e-01 8.59246878e-01 -3.20186669e-02 -2.14914171e+01] [-6.08203545e-02 1.05563043e-03 9.98148170e-01 -4.97754779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.91, Y:-21.51, Z:-4.97 [[ 8.56216856e-01 5.13821574e-01 5.36664284e-02 7.69129593e+01] [-5.13281616e-01 8.57871653e-01 -2.44583322e-02 -2.15134727e+01] [-5.86061264e-02 -6.60435485e-03 9.98259337e-01 -4.97377413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:76.94, Y:-21.53, Z:-4.97 [[ 8.54798945e-01 5.16581362e-01 4.96231839e-02 7.69405344e+01] [-5.15735973e-01 8.56238040e-01 -2.95435959e-02 -2.15285480e+01] [-5.77509288e-02 -3.38626492e-04 9.98330965e-01 -4.97454162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:-21.55, Z:-4.98 [[ 8.54572923e-01 5.17002071e-01 4.91322457e-02 7.69689257e+01] [-5.16081548e-01 8.55983549e-01 -3.08544900e-02 -2.15453325e+01] [-5.80082292e-02 1.01116625e-03 9.98315593e-01 -4.98062521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25361786499998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:77.00, Y:-21.56, Z:-4.99 [[ 8.52507603e-01 5.21207452e-01 3.96683580e-02 7.69984223e+01] [-5.19411663e-01 8.53195571e-01 -4.76323738e-02 -2.15567457e+01] [-5.86712156e-02 2.00027530e-02 9.98076940e-01 -4.99208659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28361786499998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:77.02, Y:-21.58, Z:-4.99 [[ 8.52535309e-01 5.20310387e-01 4.96049208e-02 7.70221837e+01] [-5.19401222e-01 8.53977107e-01 -3.07485083e-02 -2.15832043e+01] [-5.83602350e-02 4.49332511e-04 9.98295488e-01 -4.98708937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.04, Y:-21.61, Z:-4.97 [[ 8.52807045e-01 5.18522014e-01 6.20891636e-02 7.70423662e+01] [-5.19268070e-01 8.54598420e-01 -4.71299311e-03 -2.16121796e+01] [-5.55050918e-02 -2.82216464e-02 9.98059479e-01 -4.97354331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-21.62, Z:-4.99 [[ 8.52135559e-01 5.21253429e-01 4.64741972e-02 7.70773221e+01] [-5.20262947e-01 8.53395407e-01 -3.22915726e-02 -2.16161256e+01] [-5.64929594e-02 3.33799447e-03 9.98397418e-01 -4.98826468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:-21.64, Z:-4.98 [[ 8.51065663e-01 5.22442466e-01 5.23555745e-02 7.71018151e+01] [-5.22144213e-01 8.52615303e-01 -2.03117069e-02 -2.16416304e+01] [-5.52508623e-02 -1.00505639e-02 9.98421919e-01 -4.98224357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-21.64, Z:-5.00 [[ 8.51547554e-01 5.23147179e-01 3.44062951e-02 7.71362281e+01] [-5.21129538e-01 8.51790727e-01 -5.36335881e-02 -2.16392470e+01] [-5.73652235e-02 2.77414141e-02 9.97967758e-01 -5.00115988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.15, Y:-21.69, Z:-4.98 [[ 8.51133684e-01 5.21164855e-01 6.29177802e-02 7.71497973e+01] [-5.22183630e-01 8.52833026e-01 -2.94405787e-04 -2.16865525e+01] [-5.38117948e-02 -3.26040562e-02 9.98018670e-01 -4.97602306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.19, Y:-21.69, Z:-5.00 [[ 8.51902587e-01 5.22605708e-01 3.38416238e-02 7.71878485e+01] [-5.21358337e-01 8.52424793e-01 -3.94646150e-02 -2.16851794e+01] [-4.94718722e-02 1.59763950e-02 9.98647730e-01 -4.99541010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.21, Y:-21.71, Z:-4.99 [[ 8.52963262e-01 5.19664917e-01 4.90106961e-02 7.72087887e+01] [-5.19040391e-01 8.54362957e-01 -2.57101149e-02 -2.17094956e+01] [-5.52335680e-02 -3.50874741e-03 9.98467296e-01 -4.99329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.23, Y:-21.73, Z:-4.99 [[ 8.52841713e-01 5.19803227e-01 4.96549983e-02 7.72347982e+01] [-5.19307466e-01 8.54266291e-01 -2.34277682e-02 -2.17294762e+01] [-5.45964207e-02 -5.80603339e-03 9.98491623e-01 -4.99294032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.27, Y:-21.73, Z:-5.01 [[ 8.54287456e-01 5.18289740e-01 3.96066710e-02 7.72650107e+01] [-5.16289806e-01 8.54891537e-01 -5.10420965e-02 -2.17297039e+01] [-6.03140028e-02 2.31561023e-02 9.97910826e-01 -5.01253659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:-21.76, Z:-5.00 [[ 8.54634042e-01 5.16930656e-01 4.88195827e-02 7.72865716e+01] [-5.16434321e-01 8.56010691e-01 -2.32655981e-02 -2.17642422e+01] [-5.38167856e-02 -5.32853591e-03 9.98536609e-01 -4.99924770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.31, Y:-21.78, Z:-5.00 [[ 8.54946578e-01 5.16138965e-01 5.16422162e-02 7.73141169e+01] [-5.15581348e-01 8.56486724e-01 -2.46244668e-02 -2.17822443e+01] [-5.69405193e-02 -5.57315984e-03 9.98362017e-01 -5.00225759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.34, Y:-21.79, Z:-5.01 [[ 8.54993283e-01 5.16841754e-01 4.31403282e-02 7.73425416e+01] [-5.15778853e-01 8.56055221e-01 -3.37880527e-02 -2.17939000e+01] [-5.43935797e-02 6.63768911e-03 9.98497511e-01 -5.00785932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-21.82, Z:-5.00 [[ 8.55765733e-01 5.14850128e-01 5.09348287e-02 7.73669563e+01] [-5.14426756e-01 8.57249272e-01 -2.21087946e-02 -2.18211844e+01] [-5.50465606e-02 -7.28228992e-03 9.98457232e-01 -5.00285862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.40, Y:-21.83, Z:-5.01 [[ 8.56722682e-01 5.13862381e-01 4.44038250e-02 7.73974394e+01] [-5.12595953e-01 8.57824416e-01 -3.71841351e-02 -2.18306893e+01] [-5.71982135e-02 9.09527096e-03 9.98321411e-01 -5.01325878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.42, Y:-21.85, Z:-5.01 [[ 8.57503052e-01 5.12229681e-01 4.80548512e-02 7.74236033e+01] [-5.11128437e-01 8.58836822e-01 -3.38678905e-02 -2.18503569e+01] [-5.86194145e-02 4.47961849e-03 9.98270353e-01 -5.01457845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.45, Y:-21.87, Z:-5.02 [[ 8.58401757e-01 5.10635527e-01 4.89671504e-02 7.74507562e+01] [-5.09477018e-01 8.59783571e-01 -3.47185764e-02 -2.18669052e+01] [-5.98296899e-02 4.85484920e-03 9.98196794e-01 -5.01744723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.48, Y:-21.88, Z:-5.02 [[ 8.59751790e-01 5.08386544e-01 4.86824606e-02 7.74778937e+01] [-5.06956316e-01 8.61082152e-01 -3.91512494e-02 -2.18820843e+01] [-6.18235663e-02 8.98047587e-03 9.98046691e-01 -5.02303749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.50, Y:-21.90, Z:-5.02 [[ 8.60455352e-01 5.06809166e-01 5.25457536e-02 7.75027664e+01] [-5.05714676e-01 8.62055645e-01 -3.33576430e-02 -2.19018012e+01] [-6.22033227e-02 2.12960374e-03 9.98061226e-01 -5.02265229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.53, Y:-21.91, Z:-5.03 [[ 8.61383168e-01 5.05488841e-01 5.00007040e-02 7.75309907e+01] [-5.04042355e-01 8.62791050e-01 -3.91523811e-02 -2.19147111e+01] [-6.29312516e-02 8.52272945e-03 9.97981473e-01 -5.02945109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-21.94, Z:-5.03 [[ 8.62065913e-01 5.03944148e-01 5.36903814e-02 7.75556968e+01] [-5.03082489e-01 8.63734796e-01 -2.94993280e-02 -2.19388005e+01] [-6.12402643e-02 -1.58032563e-03 9.98121802e-01 -5.02565662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:77.59, Y:-21.95, Z:-5.04 [[ 8.62656083e-01 5.04021399e-01 4.22718777e-02 7.75869206e+01] [-5.02211501e-01 8.63479821e-01 -4.67568962e-02 -2.19464356e+01] [-6.00673896e-02 1.91056978e-02 9.98011463e-01 -5.03807367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:-21.97, Z:-5.04 [[ 8.63178624e-01 5.01891334e-01 5.50250171e-02 7.76074715e+01] [-5.00830515e-01 8.64930477e-01 -3.26200056e-02 -2.19686406e+01] [-6.39645125e-02 5.98683900e-04 9.97951994e-01 -5.03542182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.63, Y:-22.00, Z:-5.02 [[ 8.62439566e-01 5.01948686e-01 6.51575931e-02 7.76267941e+01] [-5.02499565e-01 8.64532364e-01 -8.83054835e-03 -2.19956082e+01] [-6.07633301e-02 -2.51258479e-02 9.97835913e-01 -5.01675141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.66, Y:-22.00, Z:-5.04 [[ 8.61666055e-01 5.04932785e-01 5.07394572e-02 7.76623532e+01] [-5.03252922e-01 8.63085738e-01 -4.26556586e-02 -2.19977836e+01] [-6.53307423e-02 1.12201530e-02 9.97800582e-01 -5.04019686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.69, Y:-22.02, Z:-5.04 [[ 8.61988248e-01 5.04476668e-01 4.97950996e-02 7.76916400e+01] [-5.02869070e-01 8.63356561e-01 -4.16910986e-02 -2.20154152e+01] [-6.40231124e-02 1.08968217e-02 9.97888922e-01 -5.04356939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-22.03, Z:-5.04 [[ 8.60587935e-01 5.06199166e-01 5.61320767e-02 7.77142026e+01] [-5.04994154e-01 8.62414870e-01 -3.49499164e-02 -2.20349701e+01] [-6.61007562e-02 1.73110576e-03 9.97811452e-01 -5.04388204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-22.06, Z:-5.04 [[ 8.57878256e-01 5.10829217e-01 5.56633544e-02 7.77423477e+01] [-5.09954186e-01 8.59678142e-01 -3.00036676e-02 -2.20589433e+01] [-6.31793191e-02 -2.64626657e-03 9.97998683e-01 -5.04227559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:77.77, Y:-22.07, Z:-5.04 [[ 8.58343412e-01 5.11243223e-01 4.33238196e-02 7.77719220e+01] [-5.09989994e-01 8.59381026e-01 -3.70736959e-02 -2.20678943e+01] [-5.61853443e-02 9.72724818e-03 9.98372970e-01 -5.04289126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15361786499999 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:77.80, Y:-22.09, Z:-5.04 [[ 8.57247053e-01 5.12423773e-01 5.04912500e-02 7.77953249e+01] [-5.11717004e-01 8.58728592e-01 -2.70354012e-02 -2.20899923e+01] [-5.72118623e-02 -2.66121316e-03 9.98358513e-01 -5.04046941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:77.82, Y:-22.11, Z:-5.04 [[ 8.54794342e-01 5.16440502e-01 5.11452883e-02 7.78216996e+01] [-5.15644936e-01 8.56321121e-01 -2.87130248e-02 -2.21068628e+01] [-5.86253595e-02 -1.82907773e-03 9.98278379e-01 -5.04326463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21361786499999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:77.86, Y:-22.12, Z:-5.05 [[ 8.55694127e-01 5.15509408e-01 4.51399172e-02 7.78550754e+01] [-5.14423456e-01 8.56864103e-01 -3.39472560e-02 -2.21216019e+01] [-5.61789045e-02 5.82743537e-03 9.98403712e-01 -5.04667323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:77.88, Y:-22.14, Z:-5.05 [[ 8.54093227e-01 5.17345045e-01 5.36550443e-02 7.78770281e+01] [-5.16661575e-01 8.55764166e-01 -2.69909265e-02 -2.21424696e+01] [-5.98796863e-02 -4.66873212e-03 9.98194683e-01 -5.04657257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27361786499998 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:77.91, Y:-22.15, Z:-5.05 [[ 8.52955707e-01 5.19776483e-01 4.79475735e-02 7.79063898e+01] [-5.18611376e-01 8.54286939e-01 -3.51577370e-02 -2.21548959e+01] [-5.92351507e-02 5.12183539e-03 9.98230917e-01 -5.05225789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499998 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:77.93, Y:-22.18, Z:-5.05 [[ 8.51785727e-01 5.20955172e-01 5.53785537e-02 7.79299357e+01] [-5.20316917e-01 8.53561342e-01 -2.65205801e-02 -2.21766768e+01] [-6.10850260e-02 -6.22454672e-03 9.98113157e-01 -5.05109733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33361786499998 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:77.96, Y:-22.19, Z:-5.06 [[ 8.51510793e-01 5.22210445e-01 4.71764754e-02 7.79604392e+01] [-5.20954178e-01 8.52789663e-01 -3.68311581e-02 -2.21879745e+01] [-5.94652261e-02 6.78534668e-03 9.98207316e-01 -5.05759986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36361786499998 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:77.96, Y:-22.22, Z:-5.05 [[ 8.46191707e-01 5.26222179e-01 8.39631688e-02 7.79643692e+01] [-5.27928553e-01 8.49285949e-01 -2.19547137e-03 -2.22227197e+01] [-7.24640452e-02 -4.24687646e-02 9.96466440e-01 -5.04534513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39361786499998 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:78.01, Y:-22.21, Z:-5.08 [[ 8.47620168e-01 5.29590239e-01 3.27754377e-02 7.80149728e+01] [-5.26843843e-01 8.47347386e-01 -6.66181144e-02 -2.22054895e+01] [-6.30524845e-02 3.91993198e-02 9.97240090e-01 -5.07600857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:78.04, Y:-22.24, Z:-5.06 [[ 8.48588871e-01 5.26325373e-01 5.36519300e-02 7.80367115e+01] [-5.25351870e-01 8.50282636e-01 -3.20132884e-02 -2.22416825e+01] [-6.24687105e-02 -1.02002148e-03 9.98046402e-01 -5.06306288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:-22.27, Z:-5.06 [[ 8.48588251e-01 5.25103221e-01 6.45336115e-02 7.80614146e+01] [-5.24831773e-01 8.50909649e-01 -2.24583978e-02 -2.22651042e+01] [-6.67052498e-02 -1.48113572e-02 9.97662785e-01 -5.06119159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-22.28, Z:-5.07 [[ 8.48490131e-01 5.26160632e-01 5.67405235e-02 7.80917914e+01] [-5.24964805e-01 8.50385149e-01 -3.54549306e-02 -2.22759811e+01] [-6.69062872e-02 2.96380897e-04 9.97759220e-01 -5.06983802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51361786499999 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:78.12, Y:-22.28, Z:-5.08 [[ 8.48650628e-01 5.27518860e-01 3.89353687e-02 7.81246739e+01] [-5.25467494e-01 8.49207410e-01 -5.22559911e-02 -2.22834051e+01] [-6.06302244e-02 2.38878091e-02 9.97874415e-01 -5.07898078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:78.14, Y:-22.31, Z:-5.07 [[ 8.48184044e-01 5.26735213e-01 5.59807351e-02 7.81441788e+01] [-5.25987548e-01 8.50013280e-01 -2.85398431e-02 -2.23131714e+01] [-6.26173086e-02 -5.23813003e-03 9.98023865e-01 -5.07141445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.17, Y:-22.33, Z:-5.07 [[ 8.47951741e-01 5.27588143e-01 5.12698250e-02 7.81728799e+01] [-5.26622903e-01 8.49500293e-01 -3.18993735e-02 -2.23289164e+01] [-6.03834626e-02 4.92651965e-05 9.98175253e-01 -5.07404857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:78.20, Y:-22.35, Z:-5.08 [[ 8.48385711e-01 5.26967246e-01 5.04698621e-02 7.82012342e+01] [-5.25928425e-01 8.49884189e-01 -3.31082710e-02 -2.23463997e+01] [-6.03405122e-02 1.54504896e-03 9.98176655e-01 -5.07772960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:78.23, Y:-22.36, Z:-5.08 [[ 8.48661832e-01 5.26736591e-01 4.81835931e-02 7.82283665e+01] [-5.25706969e-01 8.50024278e-01 -3.30289111e-02 -2.23633263e+01] [-5.83547601e-02 2.69992554e-03 9.98292258e-01 -5.07951078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:-22.39, Z:-5.08 [[ 8.48773738e-01 5.25439332e-01 5.91324760e-02 7.82554964e+01] [-5.25150110e-01 8.50735804e-01 -2.15859497e-02 -2.23902470e+01] [-6.16482215e-02 -1.27318391e-02 9.98016732e-01 -5.07918605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69361786499998 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:78.49, Y:-22.28, Z:-3.98 [[ 8.68446885e-01 -3.02591244e-01 3.92732158e-01 7.84940320e+01] [-4.95175486e-01 -4.90213495e-01 7.17280954e-01 -2.22751767e+01] [-2.45203325e-02 -8.17391747e-01 -5.75560149e-01 -3.97778775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72361786499998 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.70, Z:-4.14 [[ 8.95804081e-01 -4.36747149e-01 -8.23831120e-02 7.88272728e+01] [-4.43375055e-01 -8.91031950e-01 -9.73684966e-02 -2.17020964e+01] [-3.08805718e-02 1.23749713e-01 -9.91832848e-01 -4.14270149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-21.55, Z:-4.36 [[ 9.22446067e-01 -3.06859232e-01 -2.34372917e-01 7.89027042e+01] [-3.82471532e-01 -8.09453715e-01 -4.45533625e-01 -2.15512127e+01] [-5.29979220e-02 5.00621709e-01 -8.64042317e-01 -4.36450325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78361786499998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:78.85, Y:-21.73, Z:-4.10 [[ 9.48758202e-01 -3.11586956e-01 -5.26444857e-02 7.88487569e+01] [-3.10658195e-01 -9.50187626e-01 2.51984490e-02 -2.17261383e+01] [-5.78736469e-02 -7.55279430e-03 -9.98295345e-01 -4.10282531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.59, Z:-4.23 [[ 9.68614014e-01 -2.12960338e-01 -1.28198230e-01 7.88880709e+01] [-2.38247607e-01 -9.42472420e-01 -2.34486280e-01 -2.15929656e+01] [-7.08870188e-02 2.57669619e-01 -9.63629285e-01 -4.22696230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.62, Z:-4.18 [[ 0.98293028 -0.15184544 -0.10387984 78.87956396] [ -0.16521603 -0.97693588 -0.13527727 -21.62194892] [ -0.0809427 0.15013074 -0.98534717 -4.17888038] [ 0. 0. 0. 1. ]] SLAMing on 78.87361786499999 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.55, Z:-4.22 [[ 9.91319610e-01 -6.78913680e-02 -1.12588601e-01 7.88819149e+01] [-9.10727467e-02 -9.72220076e-01 -2.15624394e-01 -2.15545755e+01] [-9.48218628e-02 2.24006444e-01 -9.69963880e-01 -4.22410496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.50, Z:-4.25 [[ 9.94057820e-01 1.36001100e-02 -1.08000406e-01 7.88826568e+01] [-1.34497785e-02 -9.69215975e-01 -2.45844459e-01 -2.15049379e+01] [-1.08019230e-01 2.45836189e-01 -9.63273800e-01 -4.24546012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.60, Z:-4.15 [[ 9.91604407e-01 6.94985220e-02 -1.09044280e-01 7.88904383e+01] [ 6.51940662e-02 -9.96964615e-01 -4.25592593e-02 -2.16044397e+01] [-1.11671095e-01 3.50929090e-02 -9.93125397e-01 -4.15167222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.61, Z:-4.15 [[ 9.82641807e-01 1.47696455e-01 -1.12253443e-01 7.88884733e+01] [ 1.43820792e-01 -9.88715554e-01 -4.19181695e-02 -2.16148733e+01] [-1.17177890e-01 2.50461667e-02 -9.92795060e-01 -4.14936728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.55, Z:-4.22 [[ 0.96707865 0.24109568 -0.08143555 78.87040242] [ 0.21992471 -0.95282083 -0.20920225 -21.55096312] [ -0.12803124 0.18440535 -0.97447559 -4.22344423] [ 0. 0. 0. 1. ]] SLAMing on 79.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.59, Z:-4.19 [[ 0.94571357 0.31107011 -0.09413416 78.88068223] [ 0.29576045 -0.9438055 -0.1475023 -21.58745458] [ -0.13472789 0.11165377 -0.9845719 -4.19083304] [ 0. 0. 0. 1. ]] SLAMing on 79.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.55, Z:-4.24 [[ 9.18024704e-01 3.92303326e-01 -5.76952600e-02 7.88623690e+01] [ 3.67027338e-01 -8.95761678e-01 -2.50802612e-01 -2.15529137e+01] [-1.50071902e-01 2.09067256e-01 -9.66317395e-01 -4.23989041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.84, Y:-21.53, Z:-4.29 [[ 8.84177712e-01 4.67034755e-01 -1.04072195e-02 7.88415779e+01] [ 4.34956670e-01 -8.31166785e-01 -3.46373311e-01 -2.15252351e+01] [-1.70418510e-01 3.01728872e-01 -9.38039029e-01 -4.29221348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.52, Z:-4.32 [[ 8.45131256e-01 5.34112697e-01 2.18354469e-02 7.88326900e+01] [ 4.97872676e-01 -7.71602468e-01 -3.95919726e-01 -2.15167174e+01] [-1.94617468e-01 3.45475408e-01 -9.18025481e-01 -4.32255622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:-21.53, Z:-4.31 [[ 8.01536582e-01 5.97684109e-01 1.76865390e-02 7.88400513e+01] [ 5.57711132e-01 -7.36608841e-01 -3.82577716e-01 -2.15282745e+01] [-2.15632561e-01 3.16514014e-01 -9.23754014e-01 -4.31331733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.55, Z:-4.27 [[ 7.52924945e-01 6.57420868e-01 -3.00304794e-02 7.88721251e+01] [ 6.15892396e-01 -7.19974737e-01 -3.19863932e-01 -2.15549996e+01] [-2.31906410e-01 2.22337990e-01 -9.46987452e-01 -4.27106781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.55, Z:-4.30 [[ 7.00133387e-01 7.13942508e-01 9.96673847e-03 7.88605816e+01] [ 6.68991921e-01 -6.51046235e-01 -3.58592538e-01 -2.15491138e+01] [-2.49525648e-01 2.57730276e-01 -9.33440976e-01 -4.29700075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.55, Z:-4.30 [[ 6.42828501e-01 7.65466128e-01 2.88638857e-02 7.88603484e+01] [ 7.18514246e-01 -5.89480257e-01 -3.69120989e-01 -2.15526633e+01] [-2.65534924e-01 2.58020605e-01 -9.28933029e-01 -4.30426801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.56, Z:-4.30 [[ 5.81615029e-01 8.13253999e-01 1.84902668e-02 7.88721286e+01] [ 7.63273494e-01 -5.37727795e-01 -3.58137393e-01 -2.15629017e+01] [-2.81313937e-01 2.22411221e-01 -9.33485789e-01 -4.29579195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.57, Z:-4.28 [[ 5.16759242e-01 8.56125183e-01 -3.09122829e-03 7.88903650e+01] [ 8.04701534e-01 -4.86946060e-01 -3.39615924e-01 -2.15742976e+01] [-2.92259007e-01 1.73012151e-01 -9.40559125e-01 -4.27955509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.57, Z:-4.31 [[ 4.48933087e-01 8.91585316e-01 5.94534114e-02 7.88674182e+01] [ 8.39523185e-01 -3.98059579e-01 -3.69796421e-01 -2.15741725e+01] [-3.06039059e-01 2.15926366e-01 -9.27208660e-01 -4.30941502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.58, Z:-4.32 [[ 3.78753287e-01 9.22645289e-01 7.26059054e-02 7.88676377e+01] [ 8.68261072e-01 -3.27073837e-01 -3.73022004e-01 -2.15783543e+01] [-3.20419502e-01 2.04324191e-01 -9.24977279e-01 -4.31605643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.58, Z:-4.30 [[ 3.06352707e-01 9.50773480e-01 4.66670011e-02 7.88911999e+01] [ 8.92575285e-01 -2.69870638e-01 -3.61219046e-01 -2.15847180e+01] [-3.30843436e-01 1.52314244e-01 -9.31312510e-01 -4.29829714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.59, Z:-4.33 [[ 0.23224225 0.96435099 0.12684915 78.86500525] [ 0.9092905 -0.16895521 -0.38032214 -21.5897661 ] [ -0.34533221 0.20366959 -0.91611373 -4.33370518] [ 0. 0. 0. 1. ]] SLAMing on 79.44361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.59, Z:-4.32 [[ 0.15386845 0.98268522 0.10321948 78.88365876] [ 0.91981957 -0.10429691 -0.37822495 -21.59335228] [ -0.3609106 0.15314018 -0.9199411 -4.31647121] [ 0. 0. 0. 1. ]] SLAMing on 79.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:-21.59, Z:-4.26 [[ 7.82894323e-02 9.96530492e-01 -2.82443441e-02 7.89605112e+01] [ 9.30684816e-01 -8.32130383e-02 -3.56232178e-01 -2.15876809e+01] [-3.57346525e-01 1.60263280e-03 -9.33970499e-01 -4.26422012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50361786499998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.61, Z:-4.34 [[ 2.71194551e-03 9.84494628e-01 1.75393764e-01 7.88773963e+01] [ 9.29371435e-01 6.22632842e-02 -3.63857141e-01 -2.16120775e+01] [-3.69135992e-01 1.63992715e-01 -9.14792331e-01 -4.34278489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.64, Z:-4.33 [[-7.31177036e-02 9.79941001e-01 1.85389958e-01 7.89115679e+01] [ 9.22755705e-01 1.36997721e-01 -3.60213178e-01 -2.16407631e+01] [-3.78385664e-01 1.44731681e-01 -9.14263107e-01 -4.32941321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.68, Z:-4.35 [[ -0.1469256 0.95083488 0.27262778 78.91478452] [ 0.90792264 0.23901617 -0.34430765 -21.67796152] [ -0.39254216 0.19693732 -0.8984021 -4.35034904] [ 0. 0. 0. 1. ]] SLAMing on 79.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-21.70, Z:-4.34 [[ -0.21995737 0.93262643 0.28605365 78.95086387] [ 0.8880273 0.31280035 -0.33699177 -21.70156994] [ -0.40376511 0.17989963 -0.89700048 -4.3374259 ] [ 0. 0. 0. 1. ]] SLAMing on 79.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:-21.74, Z:-4.34 [[ -0.29006665 0.8941962 0.34099046 78.97305462] [ 0.86157616 0.39910635 -0.31368876 -21.7359968 ] [ -0.41659075 0.20279861 -0.88618557 -4.34154584] [ 0. 0. 0. 1. ]] SLAMing on 79.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:-21.77, Z:-4.35 [[ -0.35555455 0.83922444 0.41144052 78.99194728] [ 0.83016461 0.48581256 -0.27351942 -21.77493244] [ -0.42942715 0.24431229 -0.8694273 -4.35385335] [ 0. 0. 0. 1. ]] SLAMing on 79.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-21.81, Z:-4.37 [[ -0.41776684 0.76971925 0.482704 79.01126112] [ 0.79079364 0.56964415 -0.22394409 -21.81079115] [ -0.44734359 0.28816284 -0.84666752 -4.37104179] [ 0. 0. 0. 1. ]] SLAMing on 79.71361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.04, Y:-21.83, Z:-4.38 [[ -0.47506193 0.70577932 0.52553946 79.0399798 ] [ 0.74617356 0.63966401 -0.18453987 -21.83205545] [ -0.4664131 0.30447579 -0.83051389 -4.37638984] [ 0. 0. 0. 1. ]] SLAMing on 79.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-21.85, Z:-4.38 [[ -0.52764171 0.62971296 0.57013666 79.06926046] [ 0.69535281 0.70569915 -0.13591609 -21.85406409] [ -0.48793308 0.32473113 -0.81022898 -4.38490803] [ 0. 0. 0. 1. ]] SLAMing on 79.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.86, Z:-4.37 [[ -0.57511769 0.57115407 0.58568137 79.10398464] [ 0.64070289 0.75962902 -0.1116403 -21.85752877] [ -0.50866438 0.31104144 -0.80281615 -4.37361335] [ 0. 0. 0. 1. ]] SLAMing on 79.80361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:79.14, Y:-21.90, Z:-4.40 [[-6.13903695e-01 4.53204224e-01 6.46318949e-01 7.91377787e+01] [ 5.79883654e-01 8.14446444e-01 -2.02962495e-02 -2.18973229e+01] [-5.35590516e-01 3.62329851e-01 -7.62797403e-01 -4.40181738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.16, Y:-21.82, Z:-4.34 [[ -0.65188905 0.47395531 0.59195188 79.16347266] [ 0.5190118 0.8479935 -0.1073954 -21.82438295] [ -0.55287197 0.23722012 -0.79878608 -4.34019576] [ 0. 0. 0. 1. ]] SLAMing on 79.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:-21.83, Z:-4.35 [[-6.84399328e-01 3.79346330e-01 6.22650722e-01 7.91894286e+01] [ 4.49914786e-01 8.91739714e-01 -4.87541559e-02 -2.18336343e+01] [-5.73737087e-01 2.46772455e-01 -7.80979584e-01 -4.35411338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-21.39, Z:-5.05 [[-6.93540515e-01 -5.25891805e-01 -4.92381319e-01 8.00939643e+01] [ 4.10228592e-01 -8.50123210e-01 3.30156069e-01 -2.13884758e+01] [-5.92211158e-01 2.69877150e-02 8.05330744e-01 -5.05345185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:-21.05, Z:-4.30 [[-7.12486823e-01 5.94095220e-01 -3.73381033e-01 7.95909393e+01] [ 4.38471410e-01 -3.84812814e-02 -8.97920939e-01 -2.10452927e+01] [-5.47818719e-01 -8.03473746e-01 -2.33076363e-01 -4.29935429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.24, Y:-21.70, Z:-4.30 [[-7.56608943e-01 4.38033703e-01 4.85457911e-01 7.92382048e+01] [ 3.83848624e-01 8.98596457e-01 -2.12566794e-01 -2.16969600e+01] [-5.29342178e-01 2.55124138e-02 -8.48024749e-01 -4.29689269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.03, Y:-21.26, Z:-5.14 [[-7.69070587e-01 -4.20605331e-01 -4.81270804e-01 8.00327075e+01] [ 3.43317161e-01 -9.06966152e-01 2.44019930e-01 -2.12627978e+01] [-5.39132413e-01 2.24400243e-02 8.41922020e-01 -5.13668583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.03, Y:-21.26, Z:-5.14 [[-7.67876283e-01 -4.21132268e-01 -4.82714851e-01 8.00313483e+01] [ 3.42547171e-01 -9.06691293e-01 2.46114476e-01 -2.12637291e+01] [-5.41320100e-01 2.36328620e-02 8.40484406e-01 -5.13906247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-20.93, Z:-4.44 [[-7.82072769e-01 4.70258472e-01 -4.08924387e-01 7.96218970e+01] [ 3.78409316e-01 -1.63009877e-01 -9.11171866e-01 -2.09335428e+01] [-4.95145003e-01 -8.67343502e-01 -5.04646010e-02 -4.43965498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-21.67, Z:-4.35 [[-8.20599039e-01 3.60791362e-01 4.43223206e-01 7.92491791e+01] [ 3.24231062e-01 9.32550578e-01 -1.58819515e-01 -2.16715647e+01] [-4.70628766e-01 1.33795891e-02 -8.82229874e-01 -4.34599716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:-21.17, Z:-5.23 [[-8.26195215e-01 -3.34997949e-01 -4.52965608e-01 7.99492088e+01] [ 2.77631341e-01 -9.41699900e-01 1.90058247e-01 -2.11664881e+01] [-4.90226790e-01 3.12677650e-02 8.71033880e-01 -5.23175829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:-21.15, Z:-5.23 [[-8.25964560e-01 -3.25297795e-01 -4.60395363e-01 7.99465591e+01] [ 2.78838239e-01 -9.45555948e-01 1.67848697e-01 -2.11531945e+01] [-4.89930385e-01 1.02612424e-02 8.71701167e-01 -5.22583117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-21.16, Z:-5.23 [[-8.26471906e-01 -3.29080514e-01 -4.56782447e-01 7.99448394e+01] [ 2.78085638e-01 -9.44105187e-01 1.77013486e-01 -2.11584092e+01] [-4.89502366e-01 1.92720351e-02 8.71788978e-01 -5.22833860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-21.15, Z:-5.22 [[-8.25895117e-01 -3.21220990e-01 -4.63372777e-01 7.99429827e+01] [ 2.78555917e-01 -9.46999303e-01 1.59996629e-01 -2.11482851e+01] [-4.90207972e-01 3.06520605e-03 8.71600108e-01 -5.22343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-21.15, Z:-5.23 [[-8.26525808e-01 -3.24779626e-01 -4.59753503e-01 7.99436774e+01] [ 2.78551180e-01 -9.45734408e-01 1.67319067e-01 -2.11525127e+01] [-4.89146531e-01 1.02286465e-02 8.72141643e-01 -5.22532334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.94, Y:-21.15, Z:-5.22 [[-8.26817412e-01 -3.23514402e-01 -4.60121069e-01 7.99431042e+01] [ 2.79337353e-01 -9.46200853e-01 1.63323571e-01 -2.11504862e+01] [-4.88204475e-01 6.50977049e-03 8.72704998e-01 -5.22365811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-21.15, Z:-5.23 [[-8.26562061e-01 -3.27774413e-01 -4.57557749e-01 7.99411310e+01] [ 2.80104978e-01 -9.44667324e-01 1.70718625e-01 -2.11546689e+01] [-4.88197051e-01 1.29453357e-02 8.72637415e-01 -5.22613409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:79.93, Y:-21.15, Z:-5.23 [[-8.26695303e-01 -3.26872705e-01 -4.57961911e-01 7.99340132e+01] [ 2.82332199e-01 -9.45042430e-01 1.64873695e-01 -2.11486728e+01] [-4.86686147e-01 7.00291549e-03 8.73548827e-01 -5.22760997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:79.93, Y:-21.15, Z:-5.24 [[-8.26951850e-01 -3.21308124e-01 -4.61423587e-01 7.99326147e+01] [ 2.80451120e-01 -9.46974668e-01 1.56799703e-01 -2.11468452e+01] [-4.87337467e-01 2.59042909e-04 8.73213677e-01 -5.23929481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.92, Y:-21.15, Z:-5.23 [[-8.26698414e-01 -3.37110950e-01 -4.50473018e-01 7.99243322e+01] [ 2.87743552e-01 -9.41325681e-01 1.76379168e-01 -2.11514072e+01] [-4.83501170e-01 1.61916722e-02 8.75193949e-01 -5.23346538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:-21.14, Z:-5.23 [[-8.27401777e-01 -3.28314884e-01 -4.55648588e-01 7.99229981e+01] [ 2.88111298e-01 -9.44567781e-01 1.57428036e-01 -2.11409570e+01] [-4.82076943e-01 -1.02126944e-03 8.76128289e-01 -5.22780300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43361786499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:79.91, Y:-21.14, Z:-5.23 [[-8.26663660e-01 -3.35775566e-01 -4.51532903e-01 7.99146600e+01] [ 2.92314873e-01 -9.41930569e-01 1.65284052e-01 -2.11433969e+01] [-4.80810990e-01 4.64453651e-03 8.76811964e-01 -5.23222412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-21.59, Z:-4.35 [[ -0.84514119 0.32299951 0.42591982 79.2455717 ] [ 0.24486953 0.9422105 -0.22864444 -21.58976779] [ -0.47515817 -0.08894204 -0.87539364 -4.34657042] [ 0. 0. 0. 1. ]] SLAMing on 80.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.45, Y:-20.86, Z:-4.49 [[-8.73248499e-01 4.46809006e-01 -1.94419063e-01 7.94531656e+01] [ 2.29715175e-01 2.56129100e-02 -9.72920817e-01 -2.08648038e+01] [-4.29730145e-01 -8.94262652e-01 -1.25005244e-01 -4.49200999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.79, Y:-21.03, Z:-5.33 [[-8.86665344e-01 -2.29176265e-01 -4.01625207e-01 7.97896822e+01] [ 2.14451943e-01 -9.73291623e-01 8.19376687e-02 -2.10336356e+01] [-4.09676618e-01 -1.34780148e-02 9.12131247e-01 -5.32853348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:-21.05, Z:-5.34 [[-8.84828691e-01 -2.47036090e-01 -3.95033362e-01 7.97881126e+01] [ 2.17564771e-01 -9.68821164e-01 1.18537434e-01 -2.10526262e+01] [-4.11999706e-01 1.89399792e-02 9.10987113e-01 -5.34012882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.79, Y:-21.05, Z:-5.33 [[-8.83400567e-01 -2.47006740e-01 -3.98234992e-01 7.97864536e+01] [ 2.20984499e-01 -9.68963463e-01 1.10795574e-01 -2.10468989e+01] [-4.13242410e-01 9.87311283e-03 9.10567533e-01 -5.33114442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:-20.82, Z:-4.61 [[-8.96889729e-01 3.55535197e-01 -2.63027638e-01 7.94600631e+01] [ 2.46058043e-01 -9.30339115e-02 -9.64779836e-01 -2.08165418e+01] [-3.67483678e-01 -9.30021191e-01 -4.04113483e-03 -4.60501083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.22, Y:-21.61, Z:-4.47 [[-9.21522783e-01 1.95733307e-01 3.35386693e-01 7.92246293e+01] [ 1.87227518e-01 9.80611354e-01 -5.78552462e-02 -2.16066509e+01] [-3.40208197e-01 9.47869073e-03 -9.40302365e-01 -4.47035542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-21.85, Z:-5.13 [[ -0.90955412 -0.333152 0.24843721 79.38179788] [ 0.14054847 0.31598547 0.93829596 -21.84805438] [ -0.39109773 0.88834843 -0.24058188 -5.1274382 ] [ 0. 0. 0. 1. ]] SLAMing on 80.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-20.97, Z:-5.40 [[-8.96784066e-01 -1.46678586e-01 -4.17449077e-01 7.96416262e+01] [ 1.21692675e-01 -9.88833448e-01 8.60192098e-02 -2.09650408e+01] [-4.25404786e-01 2.63401617e-02 9.04619790e-01 -5.39752005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:-20.96, Z:-5.40 [[-8.95714332e-01 -1.43926569e-01 -4.20691073e-01 7.96347683e+01] [ 1.20016457e-01 -9.89302403e-01 8.29265047e-02 -2.09642967e+01] [-4.28126017e-01 2.37886069e-02 9.03405898e-01 -5.40235028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:-20.72, Z:-4.72 [[-9.12910706e-01 3.51319511e-01 -2.07770654e-01 7.92897007e+01] [ 1.66521512e-01 -1.44167533e-01 -9.75441597e-01 -2.07210746e+01] [-3.72645447e-01 -9.25089360e-01 7.31098279e-02 -4.71575455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.52, Z:-4.51 [[-9.36565908e-01 1.29293510e-01 3.25772140e-01 7.91001598e+01] [ 1.02019859e-01 9.89790424e-01 -9.95332373e-02 -2.15175641e+01] [-3.35315146e-01 -5.99842088e-02 -9.40194473e-01 -4.51490849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.29, Y:-21.76, Z:-5.26 [[-9.19180864e-01 -3.74983323e-01 1.20391220e-01 7.92894549e+01] [ 5.89811418e-02 1.71173688e-01 9.83473840e-01 -2.17604682e+01] [-3.89394098e-01 9.11091146e-01 -1.35222634e-01 -5.25789980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:-20.89, Z:-5.47 [[-9.05678309e-01 -6.49383473e-02 -4.18962781e-01 7.94468941e+01] [ 5.03851290e-02 -9.97682806e-01 4.57204196e-02 -2.08880092e+01] [-4.20960972e-01 2.02984985e-02 9.06851604e-01 -5.46686409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:-20.76, Z:-4.68 [[-9.29740569e-01 3.67957758e-01 -1.37681608e-02 7.90174112e+01] [ 7.03479660e-02 1.40800975e-01 -9.87535442e-01 -2.07594830e+01] [-3.61432757e-01 -9.19120326e-01 -1.56793459e-01 -4.67906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-21.56, Z:-4.65 [[-9.38933157e-01 -4.17667948e-02 3.41555355e-01 7.89544013e+01] [-6.58036588e-03 9.94604053e-01 1.03534900e-01 -2.15579338e+01] [-3.44036662e-01 9.49647918e-02 -9.34141565e-01 -4.65208412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:-20.84, Z:-5.57 [[-9.29146039e-01 1.40971680e-02 -3.69444053e-01 7.92670510e+01] [-2.81780451e-02 -9.99066440e-01 3.27451788e-02 -2.08374511e+01] [-3.68637540e-01 4.08352643e-02 9.28675856e-01 -5.56708142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-20.68, Z:-4.81 [[-9.53656618e-01 3.00296674e-01 1.89989979e-02 7.88982171e+01] [-9.61906997e-03 3.26832747e-02 -9.99419470e-01 -2.06807896e+01] [-3.00743292e-01 -9.53285745e-01 -2.82800466e-02 -4.81123465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.52, Z:-4.72 [[-9.50965641e-01 -1.17095985e-01 2.86274134e-01 7.88762567e+01] [-9.00624857e-02 9.90291185e-01 1.05887291e-01 -2.15226410e+01] [-2.95893728e-01 7.49126150e-02 -9.52278847e-01 -4.71772485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:-20.78, Z:-5.63 [[-9.48626162e-01 9.77617785e-02 -3.00916999e-01 7.90841443e+01] [-9.82557497e-02 -9.95069201e-01 -1.35311733e-02 -2.07827794e+01] [-3.00756069e-01 1.67308003e-02 9.53554334e-01 -5.63405639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-20.98, Z:-4.65 [[ -0.95990796 0.10649576 0.25929781 78.72512755] [ -0.1276158 0.65757737 -0.74249998 -20.97664883] [ -0.24958147 -0.74582214 -0.61762321 -4.65075602] [ 0. 0. 0. 1. ]] SLAMing on 81.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.70, Z:-5.12 [[-9.40100969e-01 -3.36545057e-01 5.42917309e-02 7.88825431e+01] [-1.83687404e-01 6.34259276e-01 7.50982096e-01 -2.17000892e+01] [-2.87174346e-01 6.96026289e-01 -6.58086848e-01 -5.12276533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-20.76, Z:-5.69 [[-9.33636999e-01 1.87987825e-01 -3.04930371e-01 7.88711076e+01] [-1.86593227e-01 -9.81849013e-01 -3.39924165e-02 -2.07648027e+01] [-3.05785744e-01 2.51613641e-02 9.51767821e-01 -5.69136524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-20.72, Z:-4.87 [[ -0.95198934 0.20279902 0.22932259 78.51456774] [ -0.19003304 0.19581389 -0.96205216 -20.72285806] [ -0.24000779 -0.95944227 -0.14787423 -4.87336235] [ 0. 0. 0. 1. ]] SLAMing on 81.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-21.56, Z:-4.89 [[ -0.9351545 -0.30747886 0.17590571 78.63004643] [ -0.25471942 0.92875943 0.2693027 -21.56050808] [ -0.24617897 0.20703303 -0.94685439 -4.89352423] [ 0. 0. 0. 1. ]] SLAMing on 81.21361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:-20.76, Z:-5.76 [[-9.30708785e-01 2.72411546e-01 -2.44076026e-01 7.86366373e+01] [-2.68823329e-01 -9.61964293e-01 -4.85666152e-02 -2.07617404e+01] [-2.48022529e-01 2.04119546e-02 9.68539198e-01 -5.76076779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-21.12, Z:-4.75 [[ -0.92682338 -0.11564092 0.35724724 78.37816964] [ -0.30689151 0.7814971 -0.54321256 -21.12060597] [ -0.21637009 -0.61309825 -0.759799 -4.75117783] [ 0. 0. 0. 1. ]] SLAMing on 81.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:-21.62, Z:-5.59 [[-9.10095441e-01 -2.75854829e-01 -3.09241655e-01 7.86562354e+01] [-3.27564274e-01 2.17942244e-02 9.44577503e-01 -2.16217532e+01] [-2.53826583e-01 9.60952197e-01 -1.10195011e-01 -5.58920971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:-20.80, Z:-5.80 [[-9.00305359e-01 3.37438176e-01 -2.74928606e-01 7.84182977e+01] [-3.30363441e-01 -9.41016116e-01 -7.31345693e-02 -2.07994278e+01] [-2.83390644e-01 2.49829156e-02 9.58679089e-01 -5.80192289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-20.73, Z:-5.08 [[-9.22760925e-01 2.34309999e-01 3.05959310e-01 7.80837358e+01] [-3.10349956e-01 1.88459387e-02 -9.50435550e-01 -2.07269009e+01] [-2.28462643e-01 -9.71979246e-01 5.53278020e-02 -5.08035804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.26, Y:-21.58, Z:-4.95 [[ -0.90793973 -0.38783124 0.15884699 78.26413754] [ -0.36207911 0.91675255 0.16871123 -21.57801436] [ -0.21105487 0.09566445 -0.97278166 -4.95029729] [ 0. 0. 0. 1. ]] SLAMing on 81.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-21.72, Z:-5.59 [[ -0.88443353 -0.32797637 -0.33197715 78.37830116] [ -0.38829697 0.1226144 0.91334067 -21.71502072] [ -0.25884898 0.93669483 -0.23579652 -5.59187006] [ 0. 0. 0. 1. ]] SLAMing on 81.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-20.88, Z:-5.87 [[-8.66251754e-01 4.17813100e-01 -2.73934502e-01 7.80901785e+01] [-4.08231674e-01 -9.08024573e-01 -9.40121023e-02 -2.08759091e+01] [-2.88018747e-01 3.03905915e-02 9.57142421e-01 -5.87254091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-20.83, Z:-5.16 [[-8.92639728e-01 2.42938567e-01 3.79704054e-01 7.77311397e+01] [-3.81309980e-01 4.22998853e-02 -9.23478976e-01 -2.08337995e+01] [-2.40410097e-01 -9.69118967e-01 5.48763421e-02 -5.16123906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-21.61, Z:-4.99 [[-8.79000685e-01 -4.33422451e-01 1.98753049e-01 7.79399126e+01] [-4.32505975e-01 9.00224849e-01 5.03369004e-02 -2.16065363e+01] [-2.00739576e-01 -4.17157112e-02 -9.78756058e-01 -4.98576837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-21.74, Z:-5.79 [[-8.50493215e-01 -2.34492253e-01 -4.70823401e-01 7.80900593e+01] [-4.60085669e-01 -1.02160802e-01 8.81977521e-01 -2.17392019e+01] [-2.54916592e-01 9.66734997e-01 -2.09994563e-02 -5.79058655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-20.99, Z:-5.95 [[-8.38180600e-01 4.80349454e-01 -2.58297665e-01 7.77376388e+01] [-4.64576431e-01 -8.76917879e-01 -1.23222456e-01 -2.09946149e+01] [-2.85695680e-01 1.67163350e-02 9.58174589e-01 -5.95124772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.45, Y:-21.27, Z:-5.00 [[ -0.84904433 -0.10850735 0.51705887 77.45100962] [ -0.47098157 0.59887782 -0.64770495 -21.26867618] [ -0.23937434 -0.79345542 -0.55957879 -5.00306291] [ 0. 0. 0. 1. ]] SLAMing on 81.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:-21.92, Z:-5.58 [[ -0.81986872 -0.4597499 -0.34124085 77.87227701] [ -0.50855115 0.31093694 0.80292836 -21.92363559] [ -0.26304185 0.83183427 -0.48873381 -5.5787214 ] [ 0. 0. 0. 1. ]] SLAMing on 81.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-21.09, Z:-6.01 [[-8.03636636e-01 5.41576142e-01 -2.46705167e-01 7.74774858e+01] [-5.21592343e-01 -8.40577143e-01 -1.46189925e-01 -2.10895228e+01] [-2.86547700e-01 1.11959470e-02 9.58000557e-01 -6.01304346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.22, Y:-21.41, Z:-5.06 [[ -0.80928501 -0.18639704 0.55705827 77.22221444] [ -0.53534223 0.62439193 -0.56880877 -21.41431248] [ -0.24179842 -0.75854522 -0.60509724 -5.05789426] [ 0. 0. 0. 1. ]] SLAMing on 81.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-22.01, Z:-5.63 [[ -0.77379757 -0.49950237 -0.38953139 77.67650876] [ -0.57212866 0.28720861 0.76823175 -22.00909842] [ -0.27185681 0.81731793 -0.50802094 -5.62674451] [ 0. 0. 0. 1. ]] SLAMing on 81.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-21.21, Z:-6.08 [[-7.58886616e-01 6.02161754e-01 -2.47976463e-01 7.72358071e+01] [-5.79635440e-01 -7.98146274e-01 -1.64271976e-01 -2.12066868e+01] [-2.96839791e-01 1.90721421e-02 9.54736818e-01 -6.08000670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:-21.37, Z:-5.24 [[-7.76553151e-01 2.26673867e-02 6.29643862e-01 7.68976459e+01] [-5.83231725e-01 3.52179547e-01 -7.31990657e-01 -2.13695721e+01] [-2.38340005e-01 -9.35657927e-01 -2.60265798e-01 -5.24172915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.31, Y:-22.05, Z:-5.30 [[-7.33691973e-01 -6.79080238e-01 2.33692108e-02 7.73068688e+01] [-6.37600760e-01 6.99949772e-01 3.21769463e-01 -2.20525548e+01] [-2.34864557e-01 2.21179445e-01 -9.46529605e-01 -5.30343797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:-21.36, Z:-6.19 [[-7.17178339e-01 6.61076279e-01 -2.20529777e-01 7.69806859e+01] [-6.48732073e-01 -7.48902976e-01 -1.35244334e-01 -2.13646192e+01] [-2.54562228e-01 4.60704324e-02 9.65958378e-01 -6.18733638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.64, Y:-21.47, Z:-5.38 [[-7.38041331e-01 5.13889514e-02 6.72795786e-01 7.66412338e+01] [-6.49331349e-01 2.17035601e-01 -7.28878829e-01 -2.14702296e+01] [-1.83476957e-01 -9.74810096e-01 -1.26812787e-01 -5.38391330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:-22.15, Z:-5.35 [[-6.91059742e-01 -7.22706524e-01 1.14765862e-02 7.71046892e+01] [-7.01243819e-01 6.74216423e-01 2.31709562e-01 -2.21466918e+01] [-1.75195715e-01 1.52077265e-01 -9.72717311e-01 -5.34710205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-22.22, Z:-6.02 [[ -0.66108396 -0.255976 -0.7052973 77.21287935] [ -0.70907883 -0.09418373 0.69881087 -22.22118864] [ -0.24530634 0.96208405 -0.11924381 -6.02218521] [ 0. 0. 0. 1. ]] SLAMing on 81.93361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.64, Y:-21.61, Z:-6.25 [[-6.61687651e-01 7.23679896e-01 -1.96104207e-01 7.66431888e+01] [-7.01365317e-01 -6.89877320e-01 -1.79320875e-01 -2.16050019e+01] [-2.65058756e-01 1.88862808e-02 9.64047283e-01 -6.25338684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-21.69, Z:-5.55 [[-6.86153968e-01 1.72151238e-01 7.06793239e-01 7.62923048e+01] [-7.01205811e-01 1.02132250e-01 -7.05605707e-01 -2.16931300e+01] [-1.93657280e-01 -9.79761683e-01 5.06349995e-02 -5.54811115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.78, Y:-22.35, Z:-5.39 [[-6.33857442e-01 -7.66306388e-01 1.04877366e-01 7.67798633e+01] [-7.51546522e-01 6.42259829e-01 1.50599261e-01 -2.23546431e+01] [-1.82763695e-01 1.66382425e-02 -9.83016073e-01 -5.38535200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:-22.38, Z:-6.24 [[-6.23986361e-01 -2.65924915e-02 -7.80982625e-01 7.68936020e+01] [-7.39711296e-01 -3.02105286e-01 6.01298258e-01 -2.23790445e+01] [-2.51928998e-01 9.52903582e-01 1.68838812e-01 -6.24390041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-21.89, Z:-6.33 [[-6.25344443e-01 7.60044557e-01 -1.76851913e-01 7.63401215e+01] [-7.34544618e-01 -6.49825008e-01 -1.95375696e-01 -2.18872278e+01] [-2.63417030e-01 7.72851557e-03 9.64651097e-01 -6.33334115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-22.05, Z:-5.55 [[-6.39632537e-01 3.16341177e-02 7.68029622e-01 7.60290885e+01] [-7.43642905e-01 2.27468242e-01 -6.28691839e-01 -2.20465599e+01] [-1.94590460e-01 -9.73271535e-01 -1.21971602e-01 -5.55191842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-22.68, Z:-5.56 [[ -0.58464656 -0.80655662 -0.08749188 76.60918791] [ -0.78677927 0.53737049 0.30366321 -22.6780301 ] [ -0.19790602 0.24637245 -0.94875383 -5.555084 ] [ 0. 0. 0. 1. ]] SLAMing on 82.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-22.15, Z:-6.44 [[-5.78719957e-01 8.00073628e-01 -1.58004433e-01 7.60928372e+01] [-7.85918139e-01 -5.98873127e-01 -1.53894952e-01 -2.21478763e+01] [-2.17751901e-01 3.51164701e-02 9.75372207e-01 -6.43806965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-22.24, Z:-5.73 [[-6.02046688e-01 1.49037467e-01 7.84428212e-01 7.57714694e+01] [-7.84268733e-01 7.40271253e-02 -6.15989074e-01 -2.22362310e+01] [-1.49874417e-01 -9.86056701e-01 7.23176394e-02 -5.73017570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-22.79, Z:-5.52 [[-5.49007012e-01 -8.20184499e-01 1.60899623e-01 7.62842390e+01] [-8.25825493e-01 5.61975512e-01 4.68591367e-02 -2.27945873e+01] [-1.28854786e-01 -1.07149016e-01 -9.85857765e-01 -5.51782221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.48, Y:-22.94, Z:-6.28 [[ -0.5251571 -0.19188523 -0.82908991 76.48385227] [ -0.82842763 -0.10765338 0.54965299 -22.94192308] [ -0.19472462 0.97549516 -0.10242808 -6.27987366] [ 0. 0. 0. 1. ]] SLAMing on 82.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:-22.46, Z:-6.50 [[-5.24363441e-01 8.43137035e-01 -1.19008071e-01 7.58066598e+01] [-8.25498607e-01 -5.37636518e-01 -1.71752802e-01 -2.24625545e+01] [-2.08794233e-01 8.18010643e-03 9.77925383e-01 -6.49838625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:-22.64, Z:-5.69 [[-5.29868851e-01 -5.69665469e-02 8.46164176e-01 7.55565238e+01] [-8.35872359e-01 2.03756268e-01 -5.09706565e-01 -2.26401171e+01] [-1.43375031e-01 -9.77362878e-01 -1.55580861e-01 -5.69178661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:-23.22, Z:-5.89 [[ -0.48405954 -0.74178795 -0.46415191 76.31304088] [ -0.85821666 0.29896363 0.41723483 -23.21734243] [ -0.17073523 0.6003094 -0.78133098 -5.89111881] [ 0. 0. 0. 1. ]] SLAMing on 82.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:-22.70, Z:-6.55 [[-4.69812437e-01 8.77972089e-01 -9.18764648e-02 7.56171699e+01] [-8.64089535e-01 -4.78670784e-01 -1.55639184e-01 -2.26977054e+01] [-1.80625439e-01 6.26826738e-03 9.83531982e-01 -6.55393129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:-22.83, Z:-5.82 [[-4.84894043e-01 7.16547679e-02 8.71632584e-01 7.53462680e+01] [-8.66191947e-01 9.82971095e-02 -4.89948150e-01 -2.28332105e+01] [-1.20786084e-01 -9.92574064e-01 1.44031001e-02 -5.82441832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:-23.39, Z:-5.86 [[ -0.43609494 -0.82767692 -0.35323097 76.13241963] [ -0.8885256 0.33381196 0.31478854 -23.39484895] [ -0.14263049 0.45113245 -0.88098584 -5.85833473] [ 0. 0. 0. 1. ]] SLAMing on 82.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-22.94, Z:-6.60 [[-4.19830540e-01 9.05902472e-01 -5.55250288e-02 7.54415828e+01] [-8.96823831e-01 -4.23468062e-01 -1.27991470e-01 -2.29396976e+01] [-1.39460865e-01 -3.93855895e-03 9.90219751e-01 -6.60391149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-22.95, Z:-6.61 [[-4.21664195e-01 9.04698883e-01 -6.09855564e-02 7.54390197e+01] [-8.96167968e-01 -4.26044916e-01 -1.23970574e-01 -2.29518394e+01] [-1.38138626e-01 2.37934997e-03 9.90410046e-01 -6.60760407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.74, Y:-23.38, Z:-5.61 [[-3.85242721e-01 -8.66861916e-01 3.16446623e-01 7.57375597e+01] [-9.13470831e-01 4.06896071e-01 2.57458761e-03 -2.33781694e+01] [-1.30992700e-01 -2.88072919e-01 -9.48606824e-01 -5.61079415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:-23.25, Z:-5.80 [[-3.61614375e-01 -1.70965263e-01 9.16518370e-01 7.51767927e+01] [-9.29917811e-01 1.36775484e-01 -3.41387364e-01 -2.32478259e+01] [-6.69918635e-02 -9.75737334e-01 -2.08443624e-01 -5.79784028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:-23.60, Z:-6.60 [[ -0.37653809 0.15553672 -0.913251 75.90994198] [ -0.91980654 -0.18018407 0.34855363 -23.60322671] [ -0.11034039 0.97125796 0.21090986 -6.59669145] [ 0. 0. 0. 1. ]] SLAMing on 82.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-23.32, Z:-6.67 [[-3.57725764e-01 9.32293078e-01 -5.34966775e-02 7.52508593e+01] [-9.25405704e-01 -3.61593839e-01 -1.13464435e-01 -2.33232749e+01] [-1.25126177e-01 8.91697863e-03 9.92100765e-01 -6.66766398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.33, Z:-6.66 [[-3.62090001e-01 9.31375149e-01 -3.78307206e-02 7.52395115e+01] [-9.24334686e-01 -3.64003108e-01 -1.14486353e-01 -2.33284859e+01] [-1.20400244e-01 -6.48611648e-03 9.92704242e-01 -6.66030925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.34, Z:-6.66 [[-3.62547815e-01 9.30905716e-01 -4.44255492e-02 7.52379552e+01] [-9.24411823e-01 -3.65257354e-01 -1.09771792e-01 -2.33401009e+01] [-1.18413947e-01 1.26997963e-03 9.92963506e-01 -6.66382848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.34, Z:-6.67 [[-3.62387488e-01 9.30875751e-01 -4.63211106e-02 7.52375016e+01] [-9.24108884e-01 -3.65329318e-01 -1.12059184e-01 -2.33430951e+01] [-1.21235636e-01 2.19690373e-03 9.92621325e-01 -6.66623740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.35, Z:-6.67 [[-3.62295453e-01 9.30674114e-01 -5.08694139e-02 7.52360526e+01] [-9.23811591e-01 -3.65799023e-01 -1.12974416e-01 -2.33492197e+01] [-1.23750346e-01 6.06363715e-03 9.92294857e-01 -6.66854877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-23.47, Z:-5.94 [[-3.77567918e-01 8.04724328e-02 9.22478539e-01 7.49939567e+01] [-9.23723174e-01 3.68073495e-02 -3.81288234e-01 -2.34696666e+01] [-6.46371817e-02 -9.96077008e-01 6.04369767e-02 -5.94459481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-23.57, Z:-5.98 [[-3.85572096e-01 5.57313126e-02 9.20993040e-01 7.49520630e+01] [-9.22676844e-01 -2.46578532e-02 -3.84784917e-01 -2.35709514e+01] [ 1.26514275e-03 -9.98141278e-01 6.09293718e-02 -5.98258236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-24.06, Z:-6.53 [[-3.82600841e-01 -7.17511487e-02 -9.21123428e-01 7.58354484e+01] [-9.23033346e-01 -1.38286668e-02 3.84471339e-01 -2.40634298e+01] [-4.03241692e-02 9.97326697e-01 -6.09378433e-02 -6.53272939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:-23.73, Z:-6.73 [[-3.71787601e-01 9.28180165e-01 -1.59862540e-02 7.50668222e+01] [-9.26698271e-01 -3.72100716e-01 -5.26438115e-02 -2.37345762e+01] [-5.48114382e-02 -4.75788246e-03 9.98485387e-01 -6.72599254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:-23.74, Z:-6.72 [[-3.68152531e-01 9.29551136e-01 -1.99599349e-02 7.50686121e+01] [-9.28276800e-01 -3.68692702e-01 -4.86608101e-02 -2.37392459e+01] [-5.25917936e-02 6.13744147e-04 9.98615905e-01 -6.71758953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:-23.74, Z:-6.72 [[-3.68106153e-01 9.29577520e-01 -1.95830359e-02 7.50652249e+01] [-9.28344894e-01 -3.68626258e-01 -4.78585291e-02 -2.37432613e+01] [-5.17070341e-02 5.62792369e-04 9.98662138e-01 -6.72077581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.60, Y:-24.14, Z:-5.79 [[-3.25591562e-01 -9.45076215e-01 -2.86545342e-02 7.56033285e+01] [-9.43761910e-01 3.22997871e-01 7.06104299e-02 -2.41355132e+01] [-5.74768843e-02 5.00332181e-02 -9.97092315e-01 -5.78803239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-23.88, Z:-6.72 [[-3.05884875e-01 9.51903868e-01 -1.77050459e-02 7.49733338e+01] [-9.50425038e-01 -3.06396251e-01 -5.30432265e-02 -2.38792515e+01] [-5.59168122e-02 6.02198194e-04 9.98435250e-01 -6.72285187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-23.89, Z:-6.72 [[-3.08728095e-01 9.50949805e-01 -1.95302765e-02 7.49692050e+01] [-9.49738980e-01 -3.09323166e-01 -4.81149583e-02 -2.38899358e+01] [-5.17960772e-02 3.69422543e-03 9.98650849e-01 -6.72412663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-24.16, Z:-5.69 [[-2.66517118e-01 -8.31693713e-01 4.87087460e-01 7.52499787e+01] [-9.63313861e-01 2.46395276e-01 -1.06375624e-01 -2.41633124e+01] [-3.15441113e-02 -4.97569027e-01 -8.66850640e-01 -5.69254436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-24.04, Z:-6.75 [[-2.51850953e-01 9.67750699e-01 -5.44811600e-03 7.48886769e+01] [-9.67591068e-01 -2.51908474e-01 -1.75967876e-02 -2.40433648e+01] [-1.84017301e-02 8.39780666e-04 9.99830321e-01 -6.74917954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-24.39, Z:-6.36 [[-2.42662003e-01 -4.05706922e-01 -8.81202046e-01 7.57116768e+01] [-9.66786996e-01 2.60057331e-02 2.54256970e-01 -2.43923642e+01] [-8.02375076e-02 9.13633184e-01 -3.98542779e-01 -6.35997659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.92, Y:-24.37, Z:-5.73 [[-1.92959076e-01 -5.75547106e-01 7.94677497e-01 7.49244623e+01] [-9.80140789e-01 1.50803514e-01 -1.28772408e-01 -2.43690157e+01] [-4.57255724e-02 -8.03743634e-01 -5.93216101e-01 -5.73141705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-24.31, Z:-6.75 [[-1.91972575e-01 9.81367075e-01 8.07438505e-03 7.47800003e+01] [-9.81132318e-01 -1.91721408e-01 -2.49454741e-02 -2.43083847e+01] [-2.29326345e-02 -1.27108870e-02 9.99656205e-01 -6.74961373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:-24.61, Z:-6.32 [[-1.72235248e-01 -4.97521563e-01 -8.50180753e-01 7.56389946e+01] [-9.80868515e-01 7.12564404e-03 1.94540949e-01 -2.46110624e+01] [-9.07302317e-02 8.67422342e-01 -4.89230524e-01 -6.31758326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:-24.59, Z:-5.91 [[-1.48574738e-01 -1.08992764e-01 9.82876454e-01 7.46180423e+01] [-9.88598827e-01 4.09462352e-02 -1.44899156e-01 -2.45874152e+01] [-2.44521310e-02 -9.93198864e-01 -1.13833695e-01 -5.91265743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:-24.59, Z:-6.77 [[-1.56362026e-01 9.87685772e-01 5.26613605e-03 7.47103968e+01] [-9.87615897e-01 -1.56277020e-01 -1.38684038e-02 -2.45908856e+01] [-1.28746491e-02 -7.36941139e-03 9.99889962e-01 -6.77046418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:-24.86, Z:-6.16 [[-1.13494036e-01 -7.49024418e-01 -6.52749205e-01 7.55618957e+01] [-9.90985348e-01 3.82712192e-02 1.28387516e-01 -2.48576393e+01] [-7.11838764e-02 6.61436115e-01 -7.46615779e-01 -6.15678342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:-24.72, Z:-6.75 [[-1.04717386e-01 9.94501931e-01 4.22315662e-04 7.46641045e+01] [-9.92517820e-01 -1.04481636e-01 -6.31819957e-02 -2.47157113e+01] [-6.27904925e-02 -7.03540927e-03 9.98001932e-01 -6.75482453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:-24.74, Z:-6.75 [[-1.09568913e-01 9.93961491e-01 5.93368236e-03 7.46558233e+01] [-9.92400980e-01 -1.09056725e-01 -5.69818076e-02 -2.47431970e+01] [-5.59906144e-02 -1.21320269e-02 9.98357584e-01 -6.74966145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:-24.98, Z:-6.40 [[ -0.09414566 -0.39430874 -0.91414288 75.53366004] [ -0.98681599 -0.08445923 0.13806097 -24.97800663] [ -0.13164646 0.91508866 -0.3811587 -6.40402431] [ 0. 0. 0. 1. ]] SLAMing on 83.37361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.60, Y:-25.08, Z:-5.85 [[-5.40848486e-02 -2.73631775e-01 9.60312699e-01 7.45995661e+01] [-9.96283227e-01 7.93572471e-02 -3.34986335e-02 -2.50830153e+01] [-6.70414816e-02 -9.58555204e-01 -2.76906773e-01 -5.85262650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.60, Y:-25.04, Z:-6.77 [[-6.57900630e-02 9.97617240e-01 2.07728035e-02 7.45981431e+01] [-9.96424126e-01 -6.45768371e-02 -5.44866282e-02 -2.50357549e+01] [-5.30153577e-02 -2.42832013e-02 9.98298401e-01 -6.77413711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43361786499999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:75.48, Y:-25.23, Z:-6.51 [[-6.11569254e-02 -2.63875267e-01 -9.62616058e-01 7.54793979e+01] [-9.89441188e-01 -1.10935282e-01 9.32710994e-02 -2.52293149e+01] [-1.31400020e-01 9.58156150e-01 -2.54304597e-01 -6.50897323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.59, Y:-25.15, Z:-6.75 [[-4.89392855e-02 9.98793443e-01 4.07488482e-03 7.45863815e+01] [-9.91478226e-01 -4.80868986e-02 -1.21072610e-01 -2.51515653e+01] [-1.20730580e-01 -9.96536658e-03 9.92635290e-01 -6.75327444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.37, Y:-25.42, Z:-5.95 [[ 1.12463610e-02 -9.62280127e-01 -2.71828029e-01 7.53664953e+01] [-9.87281883e-01 -5.37981368e-02 1.49600281e-01 -2.54164730e+01] [-1.58581219e-01 2.66688430e-01 -9.50646769e-01 -5.94866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:-25.46, Z:-5.76 [[ 8.31539525e-02 -9.52873674e-01 2.91748492e-01 7.50942768e+01] [-9.86974007e-01 -3.82872453e-02 1.56257471e-01 -2.54589251e+01] [-1.37723385e-01 -3.00941604e-01 -9.43645283e-01 -5.76034173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:-25.42, Z:-6.77 [[ 9.14933842e-02 9.95020568e-01 3.95351648e-02 7.45332995e+01] [-9.87613816e-01 9.57511655e-02 -1.24300704e-01 -2.54154568e+01] [-1.27467295e-01 -2.76727829e-02 9.91456659e-01 -6.76801488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-25.47, Z:-5.88 [[ 0.15767605 -0.98207732 -0.10325894 75.28564095] [ -0.97768898 -0.16995176 0.12345307 -25.47287944] [ -0.1387895 0.08148954 -0.98696349 -5.88439337] [ 0. 0. 0. 1. ]] SLAMing on 83.61361786499998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:74.53, Y:-25.51, Z:-6.79 [[ 1.66650062e-01 9.85403065e-01 3.47642844e-02 7.45330663e+01] [-9.76984000e-01 1.69782090e-01 -1.29136772e-01 -2.55119732e+01] [-1.33154124e-01 -1.24434985e-02 9.91017224e-01 -6.78567935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.24, Y:-25.53, Z:-5.85 [[ 2.31800318e-01 -9.72537390e-01 -2.09675421e-02 7.52420152e+01] [-9.63389516e-01 -2.32498402e-01 1.33510797e-01 -2.55299817e+01] [-1.34719162e-01 -1.07479349e-02 -9.90825529e-01 -5.85436291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.54, Y:-25.61, Z:-6.80 [[ 2.42242969e-01 9.69522440e-01 3.66685441e-02 7.45360658e+01] [-9.61396750e-01 2.44953790e-01 -1.25355218e-01 -2.56118686e+01] [-1.30516795e-01 -4.88659899e-03 9.91434056e-01 -6.79873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:-25.59, Z:-5.84 [[ 3.07984432e-01 -9.49474754e-01 6.03596007e-02 7.52021307e+01] [-9.42560195e-01 -2.95886631e-01 1.55020578e-01 -2.55909686e+01] [-1.29328526e-01 -1.04636482e-01 -9.86065586e-01 -5.83614125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:-25.72, Z:-6.81 [[ 3.14860652e-01 9.48311791e-01 3.95918701e-02 7.45451443e+01] [-9.40752374e-01 3.17339884e-01 -1.19500500e-01 -2.57170666e+01] [-1.25887813e-01 3.79859675e-04 9.92044411e-01 -6.81103237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:-25.61, Z:-5.88 [[ 3.80184836e-01 -9.23155081e-01 -5.69577692e-02 7.52606842e+01] [-9.15681806e-01 -3.84354657e-01 1.17466286e-01 -2.56143725e+01] [-1.30331582e-01 7.49629245e-03 -9.91442124e-01 -5.88275596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.57, Y:-25.81, Z:-6.83 [[ 3.88003974e-01 9.21353633e-01 2.36727612e-02 7.45714204e+01] [-9.12992878e-01 3.87743122e-01 -1.26882927e-01 -2.58070364e+01] [-1.26082996e-01 2.76180175e-02 9.91635176e-01 -6.83307932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.56, Y:-25.85, Z:-6.82 [[ 3.86917183e-01 9.19927519e-01 6.34700966e-02 7.45645927e+01] [-9.13139458e-01 3.91822571e-01 -1.12478461e-01 -2.58498181e+01] [-1.28341048e-01 -1.44372003e-02 9.91625001e-01 -6.81887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.81, Y:-26.00, Z:-5.82 [[ 0.41432859 -0.52184086 0.74566342 74.80657418] [ -0.90691122 -0.16790884 0.38641772 -25.99819055] [ -0.07644508 -0.83635443 -0.54283276 -5.82208305] [ 0. 0. 0. 1. ]] SLAMing on 83.88361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.52, Y:-25.71, Z:-6.55 [[ 0.43507736 -0.26322641 -0.86105723 75.51879583] [ -0.8909246 -0.26417851 -0.36940909 -25.71294909] [ -0.13023459 0.9278586 -0.34945297 -6.55267986] [ 0. 0. 0. 1. ]] SLAMing on 83.91361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.68, Y:-26.12, Z:-6.86 [[ 4.40801464e-01 8.96565078e-01 4.31871479e-02 7.46847035e+01] [-8.87202388e-01 4.42492180e-01 -1.30662132e-01 -2.61183315e+01] [-1.36257080e-01 1.92803184e-02 9.90485879e-01 -6.86191677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.78, Y:-26.32, Z:-5.94 [[ 4.60269718e-01 -2.62259746e-01 8.48157775e-01 7.47839762e+01] [-8.84343894e-01 -5.14788248e-02 4.63989016e-01 -2.63195175e+01] [-7.80234762e-02 -9.63623244e-01 -2.55621950e-01 -5.93825105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97361786499998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:74.77, Y:-26.29, Z:-6.90 [[ 4.61013972e-01 8.87373206e-01 5.90856232e-03 7.47701300e+01] [-8.84320021e-01 4.59961022e-01 -8.00871939e-02 -2.62872191e+01] [-7.37849384e-02 3.16962555e-02 9.96770350e-01 -6.89980910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.77, Y:-26.32, Z:-6.89 [[ 4.60583068e-01 8.87190020e-01 2.75155680e-02 7.47728254e+01] [-8.84807150e-01 4.61369055e-01 -6.52296165e-02 -2.63236984e+01] [-7.05658963e-02 5.69768558e-03 9.97490847e-01 -6.89191284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.78, Y:-26.36, Z:-6.89 [[ 4.60637204e-01 8.86646501e-01 4.08821205e-02 7.47804527e+01] [-8.84623621e-01 4.62372846e-01 -6.04350860e-02 -2.63562092e+01] [-7.24873400e-02 -8.32664048e-03 9.97334574e-01 -6.88723430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:74.80, Y:-26.38, Z:-6.90 [[ 4.61113708e-01 8.86999058e-01 2.46337170e-02 7.48000119e+01] [-8.84665742e-01 4.61700389e-01 -6.48018168e-02 -2.63833543e+01] [-6.88525471e-02 8.08840048e-03 9.97594058e-01 -6.89561745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.81, Y:-26.41, Z:-6.89 [[ 4.61910161e-01 8.86265158e-01 3.42501426e-02 7.48099761e+01] [-8.84107070e-01 4.63175038e-01 -6.18350476e-02 -2.64138471e+01] [-7.06660594e-02 -1.71855636e-03 9.97498549e-01 -6.89467476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.82, Y:-26.44, Z:-6.89 [[ 4.61295719e-01 8.86329320e-01 4.03310869e-02 7.48199639e+01] [-8.84367944e-01 4.62982485e-01 -5.95025907e-02 -2.64447137e+01] [-7.14114776e-02 -8.21923004e-03 9.97413076e-01 -6.89213461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15361786499999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:74.84, Y:-26.47, Z:-6.90 [[ 4.62291291e-01 8.86337815e-01 2.63066620e-02 7.48408360e+01] [-8.83896926e-01 4.62981251e-01 -6.61406430e-02 -2.64692391e+01] [-7.08024443e-02 7.32386551e-03 9.97463470e-01 -6.90206211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.85, Y:-26.51, Z:-6.89 [[ 4.61423948e-01 8.86390635e-01 3.74110009e-02 7.48461962e+01] [-8.84778257e-01 4.62866194e-01 -5.40585163e-02 -2.65069778e+01] [-6.52332502e-02 -8.15654615e-03 9.97836707e-01 -6.89358175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21361786499999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:74.94, Y:-26.65, Z:-5.96 [[ 4.68013556e-01 -2.33757822e-01 8.52244444e-01 7.49384511e+01] [-8.83607078e-01 -1.08276865e-01 4.55537762e-01 -2.66460905e+01] [-1.42071584e-02 -9.66247071e-01 -2.57225106e-01 -5.95598001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:75.63, Y:-26.29, Z:-6.02 [[ 5.26792568e-01 -8.42974306e-01 -1.09013349e-01 7.56342573e+01] [-8.49935760e-01 -5.23906133e-01 -5.59604180e-02 -2.62928705e+01] [-9.93956751e-03 1.22133876e-01 -9.92463864e-01 -6.01908273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:74.97, Y:-26.74, Z:-6.93 [[ 5.47687812e-01 8.35995319e-01 -3.39099905e-02 7.49741650e+01] [-8.36633508e-01 5.46765782e-01 -3.30386584e-02 -2.67431491e+01] [-9.07934134e-03 4.64651048e-02 9.98878651e-01 -6.93337712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:74.97, Y:-26.78, Z:-6.92 [[ 5.50029389e-01 8.35118500e-01 6.69045047e-03 7.49720845e+01] [-8.35015742e-01 5.50067519e-01 -1.32073842e-02 -2.67769822e+01] [-1.47099304e-02 1.67781800e-03 9.99890395e-01 -6.92073894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:74.99, Y:-26.81, Z:-6.92 [[ 5.49384939e-01 8.35544532e-01 6.44382546e-03 7.49886323e+01] [-8.35460719e-01 5.49421528e-01 -1.18900228e-02 -2.68079777e+01] [-1.34750199e-02 1.14863638e-03 9.99908548e-01 -6.92013256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:75.01, Y:-26.84, Z:-6.92 [[ 5.49539839e-01 8.35451413e-01 5.18666696e-03 7.50052556e+01] [-8.35346909e-01 5.49555403e-01 -1.35794230e-02 -2.68361324e+01] [-1.41953090e-02 3.12976771e-03 9.99894343e-01 -6.92084037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.02, Y:-26.86, Z:-6.92 [[ 5.49819699e-01 8.35240170e-01 8.49460757e-03 7.50200588e+01] [-8.35168741e-01 5.49884292e-01 -1.09745219e-02 -2.68645732e+01] [-1.38374128e-02 -1.06042238e-03 9.99903696e-01 -6.91919335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.04, Y:-26.89, Z:-6.92 [[ 5.49655734e-01 8.35360247e-01 7.19943236e-03 7.50366184e+01] [-8.35277285e-01 5.49702687e-01 -1.17818636e-02 -2.68915377e+01] [-1.37996478e-02 4.62446576e-04 9.99904673e-01 -6.91993060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.06, Y:-26.92, Z:-6.93 [[ 5.49509773e-01 8.35487009e-01 -6.82831666e-04 7.50554444e+01] [-8.35392541e-01 5.49434965e-01 -1.55087684e-02 -2.69178368e+01] [-1.25822029e-02 9.09265228e-03 9.99879499e-01 -6.92546908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.07, Y:-26.95, Z:-6.92 [[ 5.49236328e-01 8.35623395e-01 8.54383813e-03 7.50675566e+01] [-8.35592525e-01 5.49295189e-01 -7.74126108e-03 -2.69492174e+01] [-1.11618680e-02 -2.88738546e-03 9.99933536e-01 -6.91955867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:75.08, Y:-26.98, Z:-6.92 [[ 5.48471731e-01 8.36087143e-01 1.17067838e-02 7.50836192e+01] [-8.36040051e-01 5.48579299e-01 -9.88869667e-03 -2.69753859e+01] [-1.46899114e-02 -4.36366950e-03 9.99882576e-01 -6.92474582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.10, Y:-26.99, Z:-6.93 [[ 5.49493574e-01 8.35496295e-01 -1.65938880e-03 7.51048524e+01] [-8.35378535e-01 5.49380380e-01 -1.79972366e-02 -2.69948993e+01] [-1.41249889e-02 1.12755837e-02 9.99836660e-01 -6.93413537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-27.03, Z:-6.92 [[ 5.48598896e-01 8.36042155e-01 8.53029251e-03 7.51167158e+01] [-8.35995375e-01 5.48661040e-01 -9.09923715e-03 -2.70285935e+01] [-1.22875850e-02 -2.13945363e-03 9.99922216e-01 -6.92332976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.13, Y:-27.05, Z:-6.93 [[ 5.50172763e-01 8.34999907e-01 9.22425463e-03 7.51331221e+01] [-8.34906564e-01 5.50249477e-01 -1.25116753e-02 -2.70520174e+01] [-1.55228890e-02 -8.17807768e-04 9.99879178e-01 -6.92928203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.14, Y:-27.09, Z:-6.91 [[ 5.46518422e-01 8.37196602e-01 2.04808113e-02 7.51393844e+01] [-8.37392367e-01 5.46598819e-01 1.93749101e-03 -2.70892783e+01] [-9.57272636e-03 -1.82093496e-02 9.99788369e-01 -6.91383233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:-27.12, Z:-6.91 [[ 5.46384484e-01 8.37499459e-01 7.65842356e-03 7.51640764e+01] [-8.37512772e-01 5.46413310e-01 -2.20264435e-03 -2.71177599e+01] [-6.02937802e-03 -5.21053685e-03 9.99968248e-01 -6.91206276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.18, Y:-27.14, Z:-6.92 [[ 5.46993335e-01 8.37136959e-01 -6.62713243e-05 7.51834176e+01] [-8.37108937e-01 5.46974374e-01 -8.22571951e-03 -2.71422846e+01] [-6.84980509e-03 4.55489006e-03 9.99966166e-01 -6.91813282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.19, Y:-27.18, Z:-6.91 [[ 5.45152577e-01 8.38204657e-01 1.48868923e-02 7.51888924e+01] [-8.38331116e-01 5.45128547e-01 5.98393037e-03 -2.71763047e+01] [-3.09951167e-03 -1.57423001e-02 9.99871278e-01 -6.90681246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.21, Y:-27.20, Z:-6.91 [[ 5.45131753e-01 8.38346782e-01 2.45866753e-03 7.52110879e+01] [-8.38348262e-01 5.45134631e-01 -6.53055337e-04 -2.72003382e+01] [-1.88779165e-03 -1.70521845e-03 9.99996764e-01 -6.90982391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:-27.23, Z:-6.91 [[ 5.45167017e-01 8.38324963e-01 -2.04451507e-03 7.52325539e+01] [-8.38324599e-01 5.45157171e-01 -3.94022130e-03 -2.72294211e+01] [-2.18860382e-03 3.86204597e-03 9.99990147e-01 -6.91092244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.25, Y:-27.25, Z:-6.91 [[ 5.45053890e-01 8.38401007e-01 8.73361586e-05 7.52496477e+01] [-8.38391040e-01 5.45047912e-01 -4.82056997e-03 -2.72547642e+01] [-4.08917311e-03 2.55424856e-03 9.99988377e-01 -6.91342626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-27.28, Z:-6.92 [[ 5.45095521e-01 8.38373251e-01 1.07927762e-03 7.52669676e+01] [-8.38358023e-01 5.45092651e-01 -5.46141024e-03 -2.72797459e+01] [-5.16700656e-03 2.07216921e-03 9.99984504e-01 -6.91538337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:75.28, Y:-27.31, Z:-6.91 [[ 5.43308582e-01 8.39533054e-01 1.88514585e-04 7.52844197e+01] [-8.39526300e-01 5.43305086e-01 -3.89544971e-03 -2.73109195e+01] [-3.37277972e-03 1.95816831e-03 9.99992395e-01 -6.91400505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:75.30, Y:-27.34, Z:-6.91 [[ 5.43407317e-01 8.39467386e-01 1.73048377e-03 7.53016967e+01] [-8.39463290e-01 5.43410072e-01 -2.62268049e-03 -2.73398392e+01] [-3.14201705e-03 -2.74938249e-05 9.99995063e-01 -6.91327340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.32, Y:-27.36, Z:-6.92 [[ 5.42075196e-01 8.40316342e-01 -4.78833916e-03 7.53228629e+01] [-8.40314524e-01 5.42021858e-01 -9.15462189e-03 -2.73605424e+01] [-5.09739389e-03 8.98620439e-03 9.99946631e-01 -6.91990887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.32, Y:-27.39, Z:-6.91 [[ 5.43361070e-01 8.39168902e-01 2.35435879e-02 7.53248433e+01] [-8.39474829e-01 5.43344920e-01 7.63608962e-03 -2.73948595e+01] [-6.38431992e-03 -2.39134032e-02 9.99693648e-01 -6.91190322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:-27.42, Z:-6.92 [[ 5.39196531e-01 8.42176365e-01 2.46389765e-03 7.53503737e+01] [-8.42167389e-01 5.39202161e-01 -3.88825902e-03 -2.74177469e+01] [-4.60313879e-03 2.15215265e-05 9.99989405e-01 -6.92090998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-27.44, Z:-6.92 [[ 5.38175430e-01 8.42832640e-01 -5.88634971e-04 7.53706560e+01] [-8.42828038e-01 5.38169870e-01 -3.75344374e-03 -2.74448172e+01] [-2.84673930e-03 2.51612926e-03 9.99992783e-01 -6.91625881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.39, Y:-27.47, Z:-6.91 [[ 5.35636070e-01 8.44448847e-01 -3.80744229e-04 7.53887840e+01] [-8.44447290e-01 5.35634083e-01 -2.21440462e-03 -2.74742805e+01] [-1.66601185e-03 1.50763342e-03 9.99997476e-01 -6.91086388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.41, Y:-27.50, Z:-6.92 [[ 5.35808765e-01 8.44307573e-01 -7.32730886e-03 7.54128626e+01] [-8.44321929e-01 5.35721749e-01 -1.10764608e-02 -2.74984615e+01] [-5.42654098e-03 1.21214723e-02 9.99911807e-01 -6.91934696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-27.53, Z:-6.91 [[ 5.32757740e-01 8.46232420e-01 7.73826202e-03 7.54243114e+01] [-8.46259160e-01 5.32771348e-01 3.52875620e-04 -2.75320406e+01] [-3.82410950e-03 -6.73657233e-03 9.99969997e-01 -6.90868131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-27.56, Z:-6.91 [[ 5.31115558e-01 8.47286547e-01 4.66600970e-03 7.54421901e+01] [-8.47295072e-01 5.31122386e-01 -2.69361948e-04 -2.75571223e+01] [-2.70644896e-03 -3.81042470e-03 9.99989078e-01 -6.90818249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.46, Y:-27.58, Z:-6.91 [[ 5.30657200e-01 8.47579403e-01 3.47721287e-03 7.54611558e+01] [-8.47578017e-01 5.30665795e-01 -2.30656700e-03 -2.75848554e+01] [-3.80023661e-03 -1.72321280e-03 9.99991294e-01 -6.90925789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:-27.61, Z:-6.91 [[ 5.29973065e-01 8.48014421e-01 3.01955990e-04 7.54788521e+01] [-8.48012741e-01 5.29972668e-01 -1.83342731e-03 -2.76109762e+01] [-1.71480122e-03 7.15604566e-04 9.99998274e-01 -6.90871159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.49, Y:-27.64, Z:-6.90 [[ 5.30906727e-01 8.47390033e-01 8.25701944e-03 7.54926693e+01] [-8.47427167e-01 5.30905916e-01 2.47084087e-03 -2.76417178e+01] [-2.28993454e-03 -8.30900863e-03 9.99962858e-01 -6.90353881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-27.67, Z:-6.91 [[ 5.31109441e-01 8.47297556e-01 -3.10038549e-03 7.55157035e+01] [-8.47299447e-01 5.31092583e-01 -4.93109134e-03 -2.76661598e+01] [-2.53150990e-03 5.24590408e-03 9.99983036e-01 -6.90941741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:-27.69, Z:-6.91 [[ 5.32193560e-01 8.46621838e-01 1.21539728e-03 7.55301217e+01] [-8.46621541e-01 5.32194663e-01 -8.98179485e-04 -2.76947613e+01] [-1.40724631e-03 -5.50976181e-04 9.99998858e-01 -6.90674828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.21, Y:-27.28, Z:-5.98 [[ 5.98274412e-01 -8.01291288e-01 -7.14551921e-06 7.62075778e+01] [-8.01238461e-01 -5.98235072e-01 1.14772514e-02 -2.72793809e+01] [-9.20089622e-03 -6.86082054e-03 -9.99934134e-01 -5.98389956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.20, Y:-27.29, Z:-5.98 [[ 6.57107808e-01 -7.53666206e-01 1.40206709e-02 7.61954686e+01] [-7.53760472e-01 -6.56780503e-01 2.20118596e-02 -2.72941897e+01] [-7.38109144e-03 -2.50323924e-02 -9.99659391e-01 -5.97686410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.18, Y:-27.32, Z:-5.96 [[ 7.11265891e-01 -7.01246849e-01 4.85148237e-02 7.61750959e+01] [-7.02915365e-01 -7.09239016e-01 5.37587875e-02 -2.73200389e+01] [-3.28957451e-03 -7.23386069e-02 -9.97374706e-01 -5.96054596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:-27.90, Z:-6.91 [[ 7.17665537e-01 6.96383003e-01 -2.62479508e-03 7.56651789e+01] [-6.96348991e-01 7.17660159e-01 7.87273650e-03 -2.79041596e+01] [ 7.36615074e-03 -3.82221826e-03 9.99965565e-01 -6.90694894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.69, Y:-27.93, Z:-6.91 [[ 7.18977869e-01 6.95021940e-01 -3.91505073e-03 7.56887857e+01] [-6.94981640e-01 7.18981824e-01 8.10296391e-03 -2.79289187e+01] [ 8.44658801e-03 -3.10496335e-03 9.99959506e-01 -6.90583146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.71, Y:-27.96, Z:-6.90 [[ 7.22432135e-01 6.91441789e-01 -2.48465011e-04 7.57116835e+01] [-6.91391691e-01 7.22384026e-01 1.17833995e-02 -2.79562277e+01] [ 8.32702199e-03 -8.34091982e-03 9.99930542e-01 -6.90250646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.74, Y:-27.97, Z:-6.91 [[ 7.23075770e-01 6.90668112e-01 -1.17893877e-02 7.57363622e+01] [-6.90709454e-01 7.23131990e-01 7.57997034e-04 -2.79710273e+01] [ 9.04880778e-03 7.59495226e-03 9.99930215e-01 -6.90944825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:-28.00, Z:-6.91 [[ 7.25540303e-01 6.88178780e-01 -1.11097540e-03 7.57571913e+01] [-6.88155985e-01 7.25527776e-01 7.12648174e-03 -2.79988353e+01] [ 5.71033703e-03 -4.40602535e-03 9.99973989e-01 -6.90573250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.78, Y:-28.02, Z:-6.91 [[ 7.27007255e-01 6.86622051e-01 -3.25728309e-03 7.57794435e+01] [-6.86609242e-01 7.27014021e-01 4.28506228e-03 -2.80201727e+01] [ 5.31030873e-03 -8.78790696e-04 9.99985514e-01 -6.90602656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.80, Y:-28.04, Z:-6.91 [[ 7.27826307e-01 6.85759583e-01 -1.63140195e-03 7.58034720e+01] [-6.85755819e-01 7.27827896e-01 2.34745570e-03 -2.80433992e+01] [ 2.79717009e-03 -5.89796629e-04 9.99995914e-01 -6.90893232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.83, Y:-28.06, Z:-6.91 [[ 7.28647065e-01 6.84797920e-01 -1.11921485e-02 7.58298775e+01] [-6.84871491e-01 7.28648835e-01 -4.68147610e-03 -2.80605485e+01] [ 4.94928090e-03 1.10763273e-02 9.99926407e-01 -6.91470837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:-28.09, Z:-6.91 [[ 7.28455873e-01 6.85090301e-01 1.82220709e-03 7.58480621e+01] [-6.85089894e-01 7.28442640e-01 4.81222737e-03 -2.80884537e+01] [ 1.96943696e-03 -4.75387096e-03 9.99986761e-01 -6.90862559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.87, Y:-28.11, Z:-6.91 [[ 7.25627691e-01 6.88087202e-01 -6.75515171e-04 7.58739202e+01] [-6.88085225e-01 7.25627450e-01 1.87806089e-03 -2.81093183e+01] [ 1.78244202e-03 -8.97960980e-04 9.99998008e-01 -6.90907886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.89, Y:-28.13, Z:-6.91 [[ 7.23539687e-01 6.90256118e-01 6.06740662e-03 7.58906461e+01] [-6.90279899e-01 7.23483299e-01 9.25082966e-03 -2.81339932e+01] [ 1.99577441e-03 -1.08815512e-02 9.99938802e-01 -6.90607715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.92, Y:-28.15, Z:-6.91 [[ 7.24018438e-01 6.89746373e-01 -6.87330103e-03 7.59221676e+01] [-6.89777818e-01 7.24007948e-01 -4.36499763e-03 -2.81505084e+01] [ 1.96558330e-03 7.90138935e-03 9.99966852e-01 -6.91198206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.93, Y:-28.18, Z:-6.91 [[ 7.25058137e-01 6.88540389e-01 1.42419034e-02 7.59341201e+01] [-6.88687375e-01 7.24921731e-01 1.40778034e-02 -2.81770771e+01] [-6.31129061e-04 -2.00154450e-02 9.99799472e-01 -6.90702192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.97, Y:-28.18, Z:-6.92 [[ 7.22658252e-01 6.90872463e-01 -2.14543926e-02 7.59736451e+01] [-6.91202362e-01 7.22400390e-01 -1.94157798e-02 -2.81837847e+01] [ 2.08483398e-03 2.88603003e-02 9.99581281e-01 -6.92285210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:-28.22, Z:-6.91 [[ 7.22499645e-01 6.91363429e-01 3.29723441e-03 7.59867553e+01] [-6.91369755e-01 7.22479766e-01 5.55416945e-03 -2.82203480e+01] [ 1.45776449e-03 -6.29249360e-03 9.99979140e-01 -6.90761795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.01, Y:-28.24, Z:-6.91 [[ 7.20793229e-01 6.93149929e-01 5.44213367e-04 7.60100056e+01] [-6.93149210e-01 7.20793325e-01 -1.07492391e-03 -2.82364310e+01] [-1.13734880e-03 3.97576812e-04 9.99999274e-01 -6.91179349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.04, Y:-28.26, Z:-6.92 [[ 7.22836807e-01 6.90977622e-01 -7.54161460e-03 7.60393997e+01] [-6.91017857e-01 7.22774984e-01 -9.52072997e-03 -2.82550940e+01] [-1.12772098e-03 1.20933244e-02 9.99926237e-01 -6.91970221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.06, Y:-28.28, Z:-6.91 [[ 7.22529303e-01 6.91339104e-01 1.28429449e-03 7.60584074e+01] [-6.91338469e-01 7.22521875e-01 3.64150022e-03 -2.82849551e+01] [ 1.58958064e-03 -3.51897280e-03 9.99992545e-01 -6.91059499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-28.31, Z:-6.91 [[ 7.22411541e-01 6.91462604e-01 -1.01608871e-03 7.60828025e+01] [-6.91460050e-01 7.22411853e-01 2.02839418e-03 -2.83073323e+01] [ 2.13659325e-03 -7.62750613e-04 9.99997427e-01 -6.91111993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:-28.33, Z:-6.91 [[ 7.22067416e-01 6.91815044e-01 3.25453560e-03 7.61027132e+01] [-6.91821725e-01 7.22050519e-01 5.07424138e-03 -2.83305662e+01] [ 1.16049740e-03 -5.91550280e-03 9.99981830e-01 -6.90885676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:-28.35, Z:-6.91 [[ 7.22025216e-01 6.91864309e-01 1.83451964e-03 7.61270064e+01] [-6.91859936e-01 7.22003815e-01 6.34990509e-03 -2.83544645e+01] [ 3.06874252e-03 -5.85402224e-03 9.99978156e-01 -6.90712756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.15, Y:-28.37, Z:-6.91 [[ 7.21149402e-01 6.92779560e-01 1.46000447e-04 7.61500815e+01] [-6.92775193e-01 7.21144073e-01 3.70912577e-03 -2.83732095e+01] [ 2.46431916e-03 -2.77597931e-03 9.99993111e-01 -6.90893438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:-28.39, Z:-6.91 [[ 7.21395567e-01 6.92502066e-01 -5.41513223e-03 7.61768846e+01] [-6.92517945e-01 7.21398572e-01 -1.73098800e-03 -2.83933337e+01] [ 2.70775589e-03 4.99880331e-03 9.99983840e-01 -6.91318169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.20, Y:-28.42, Z:-6.91 [[ 7.21302445e-01 6.92566891e-01 -8.59556167e-03 7.62020222e+01] [-6.92599126e-01 7.21321800e-01 -1.14553220e-03 -2.84163659e+01] [ 5.40680834e-03 6.77955368e-03 9.99962401e-01 -6.91333232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.22, Y:-28.44, Z:-6.91 [[ 7.21407632e-01 6.92492335e-01 5.03930903e-03 7.62204837e+01] [-6.92504984e-01 7.21353116e-01 9.30211232e-03 -2.84444941e+01] [ 2.80652021e-03 -1.02003614e-02 9.99944036e-01 -6.90711330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.25, Y:-28.46, Z:-6.91 [[ 7.21487650e-01 6.92416060e-01 -3.94597359e-03 7.62479374e+01] [-6.92423938e-01 7.21490195e-01 -9.93895324e-04 -2.84615499e+01] [ 2.15879217e-03 3.44936977e-03 9.99991721e-01 -6.91363458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:76.27, Y:-28.48, Z:-6.91 [[ 7.20223544e-01 6.93736860e-01 2.68596009e-03 7.62666784e+01] [-6.93741934e-01 7.20220349e-01 2.18580128e-03 -2.84832996e+01] [-4.18112194e-04 -3.43762869e-03 9.99994004e-01 -6.91189129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:76.29, Y:-28.50, Z:-6.91 [[ 7.19822101e-01 6.94155511e-01 -2.06633658e-03 7.62923315e+01] [-6.94157501e-01 7.19823051e-01 -3.73897858e-04 -2.85043189e+01] [ 1.22785344e-03 1.70350298e-03 9.99997795e-01 -6.91233498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.32, Y:-28.52, Z:-6.92 [[ 7.20901909e-01 6.92959113e-01 -1.03973565e-02 7.63218649e+01] [-6.93036823e-01 7.20806776e-01 -1.17283624e-02 -2.85216523e+01] [-6.32790645e-04 1.56607498e-02 9.99877163e-01 -6.92154684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.34, Y:-28.55, Z:-6.92 [[ 7.19515434e-01 6.94476419e-01 2.09642012e-04 7.63401595e+01] [-6.94476245e-01 7.19515421e-01 -5.51492740e-04 -2.85484420e+01] [-5.33839363e-04 2.51216141e-04 9.99999826e-01 -6.91535974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-28.57, Z:-6.91 [[ 7.19067103e-01 6.94932602e-01 3.34365407e-03 7.63612348e+01] [-6.94939213e-01 7.19047525e-01 5.49062915e-03 -2.85743152e+01] [ 1.41137101e-03 -6.27176712e-03 9.99979336e-01 -6.90946385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.39, Y:-28.59, Z:-6.92 [[ 7.18984738e-01 6.95016954e-01 -3.51859083e-03 7.63879666e+01] [-6.95025823e-01 7.18977158e-01 -3.30933875e-03 -2.85918513e+01] [ 2.29739897e-04 4.82487554e-03 9.99988334e-01 -6.91560113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:-28.61, Z:-6.92 [[ 7.18819439e-01 6.95171268e-01 -5.95999738e-03 7.64112941e+01] [-6.95191515e-01 7.18821022e-01 -2.25732716e-03 -2.86134984e+01] [ 2.71494242e-03 5.76595025e-03 9.99979691e-01 -6.91617011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-28.64, Z:-6.91 [[ 7.19061114e-01 6.94940879e-01 -2.87908489e-03 7.64333440e+01] [-6.94935757e-01 7.19066874e-01 2.66919501e-03 -2.86379898e+01] [ 3.92518729e-03 8.14647006e-05 9.99992293e-01 -6.91403367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-28.66, Z:-6.91 [[ 7.21352867e-01 6.92536438e-01 6.58197214e-03 7.64499131e+01] [-6.92556009e-01 7.21252840e-01 1.26694801e-02 -2.86636724e+01] [ 4.02681056e-03 -1.36975502e-02 9.99898076e-01 -6.91221341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.48, Y:-28.68, Z:-6.91 [[ 7.19096274e-01 6.94895927e-01 -4.49440429e-03 7.64801359e+01] [-6.94898025e-01 7.19107058e-01 1.33169438e-03 -2.86848206e+01] [ 4.15734684e-03 2.16553620e-03 9.99989013e-01 -6.91246991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.50, Y:-28.71, Z:-6.91 [[ 7.19173885e-01 6.94797750e-01 -6.70892148e-03 7.65036732e+01] [-6.94785334e-01 7.19203637e-01 4.41219037e-03 -2.87081228e+01] [ 7.89066067e-03 1.48812816e-03 9.99967761e-01 -6.90999943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-28.73, Z:-6.91 [[ 7.19193016e-01 6.94807625e-01 -1.94178854e-03 7.65236573e+01] [-6.94785598e-01 7.19188183e-01 6.42893809e-03 -2.87315274e+01] [ 5.86338658e-03 -3.27452066e-03 9.99977449e-01 -6.90981623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:-28.76, Z:-6.91 [[ 7.21472244e-01 6.92345097e-01 1.16648181e-02 7.65389332e+01] [-6.92440287e-01 7.21316511e-01 1.51307333e-02 -2.87553704e+01] [ 2.06166314e-03 -1.89935941e-02 9.99817480e-01 -6.90775342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-28.76, Z:-6.92 [[ 7.20672826e-01 6.92754274e-01 -2.68736643e-02 7.65773205e+01] [-6.93243339e-01 7.20470321e-01 -1.83354935e-02 -2.87594034e+01] [ 6.65968601e-03 3.18438807e-02 9.99470668e-01 -6.92364689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:-28.79, Z:-6.91 [[ 7.22804358e-01 6.91051596e-01 1.24528208e-03 7.65893322e+01] [-6.91045327e-01 7.22787119e-01 5.92760109e-03 -2.87947669e+01] [ 3.19620435e-03 -5.14504226e-03 9.99981656e-01 -6.91411407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.62, Y:-28.82, Z:-6.92 [[ 7.23902755e-01 6.89856480e-01 -7.92704171e-03 7.66204999e+01] [-6.89894546e-01 7.23900616e-01 -3.66236363e-03 -2.88154646e+01] [ 3.21188510e-03 8.12001796e-03 9.99961874e-01 -6.91793018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:-28.83, Z:-6.92 [[ 7.23708925e-01 6.89988669e-01 -1.26896592e-02 7.66344395e+01] [-6.90075581e-01 7.23726140e-01 -4.02068154e-03 -2.88291329e+01] [ 6.40961334e-03 1.16666270e-02 9.99911399e-01 -6.91856780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:-28.86, Z:-6.91 [[ 7.25729990e-01 6.87955387e-01 5.77652655e-03 7.66578047e+01] [-6.87973000e-01 7.25660523e-01 1.04859748e-02 -2.88629696e+01] [ 3.02208559e-03 -1.15840807e-02 9.99928335e-01 -6.91253481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.69, Y:-28.88, Z:-6.92 [[ 7.25924526e-01 6.87685591e-01 -1.10503902e-02 7.66897166e+01] [-6.87768542e-01 7.25890814e-01 -7.54715555e-03 -2.88769856e+01] [ 2.83130662e-03 1.30787761e-02 9.99910461e-01 -6.92256284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.70, Y:-28.91, Z:-6.91 [[ 7.26337791e-01 6.87271518e-01 9.55374277e-03 7.67006807e+01] [-6.87333803e-01 7.26215172e-01 1.35560814e-02 -2.89097098e+01] [ 2.37863568e-03 -1.64129045e-02 9.99862470e-01 -6.90815916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:-28.93, Z:-6.92 [[ 7.25294860e-01 6.88437325e-01 -1.18991782e-03 7.67270807e+01] [-6.88420328e-01 7.25287293e-01 5.98283412e-03 -2.89295085e+01] [ 4.98183859e-03 -3.52015522e-03 9.99981395e-01 -6.91606823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-28.95, Z:-6.92 [[ 7.25258384e-01 6.88467024e-01 -3.66512911e-03 7.67520719e+01] [-6.88457174e-01 7.25267630e-01 3.68578325e-03 -2.89519639e+01] [ 5.19573973e-03 -1.49860778e-04 9.99986491e-01 -6.91710112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-28.97, Z:-6.92 [[ 7.27112446e-01 6.86371442e-01 -1.42033372e-02 7.67811187e+01] [-6.86496369e-01 7.27099189e-01 -7.03603276e-03 -2.89671283e+01] [ 5.49790298e-03 1.48665264e-02 9.99874372e-01 -6.92128794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:-29.00, Z:-6.90 [[ 7.25907236e-01 6.87769604e-01 5.62637186e-03 7.67924568e+01] [-6.87753105e-01 7.25753564e-01 1.66562301e-02 -2.90019541e+01] [ 7.37228937e-03 -1.59604327e-02 9.99845445e-01 -6.90450242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:-29.02, Z:-6.91 [[ 7.27056270e-01 6.86574790e-01 -2.05875724e-03 7.68192193e+01] [-6.86545523e-01 7.27047851e-01 7.52772806e-03 -2.90188837e+01] [ 6.66516333e-03 -4.05965132e-03 9.99969547e-01 -6.91380306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.84, Y:-29.05, Z:-6.90 [[ 7.22142790e-01 6.91679449e-01 9.45152984e-03 7.68378427e+01] [-6.91698063e-01 7.21869907e-01 2.13922184e-02 -2.90540079e+01] [ 7.97378286e-03 -2.19858411e-02 9.99726483e-01 -6.90137023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.87, Y:-29.06, Z:-6.91 [[ 7.23169004e-01 6.90402657e-01 -1.92551953e-02 7.68718148e+01] [-6.90578072e-01 7.23248130e-01 -3.75100311e-03 -2.90602589e+01] [ 1.13365815e-02 1.60098248e-02 9.99807565e-01 -6.91154369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.89, Y:-29.09, Z:-6.90 [[ 7.20466364e-01 6.93479489e-01 -3.79692417e-03 7.68861649e+01] [-6.93348197e-01 7.20419040e-01 1.62691232e-02 -2.90923209e+01] [ 1.40176797e-02 -9.08876551e-03 9.99860440e-01 -6.89651167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.91, Y:-29.12, Z:-6.90 [[ 7.21921877e-01 6.91973485e-01 1.22466789e-03 7.69068558e+01] [-6.91805093e-01 7.21704770e-01 2.34080827e-02 -2.91182939e+01] [ 1.53139239e-02 -1.77460385e-02 9.99725243e-01 -6.89575289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.94, Y:-29.13, Z:-6.90 [[ 7.18756111e-01 6.95008096e-01 -1.87989279e-02 7.69385222e+01] [-6.95124839e-01 7.18888906e-01 4.46024003e-04 -2.91290807e+01] [ 1.38243310e-02 1.27470193e-02 9.99823185e-01 -6.90346242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-29.15, Z:-6.91 [[ 7.19211371e-01 6.94740024e-01 -8.44412447e-03 7.69562849e+01] [-6.94668462e-01 7.19259628e-01 1.00655551e-02 -2.91522464e+01] [ 1.30664618e-02 -1.37339473e-03 9.99913687e-01 -6.90518633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.98, Y:-29.18, Z:-6.90 [[ 7.19724356e-01 6.94251993e-01 -3.31985902e-03 7.69804436e+01] [-6.94175275e-01 7.19703041e-01 1.21745414e-02 -2.91790233e+01] [ 1.08415123e-02 -6.45774994e-03 9.99920376e-01 -6.90317921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-29.19, Z:-6.91 [[ 7.19122516e-01 6.94612095e-01 -1.94124695e-02 7.70115103e+01] [-6.94802887e-01 7.19183658e-01 -4.87999488e-03 -2.91923115e+01] [ 1.05714274e-02 1.69971540e-02 9.99799651e-01 -6.91370268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:-29.20, Z:-6.93 [[ 7.16952266e-01 6.96555024e-01 -2.81166570e-02 7.70393571e+01] [-6.97121468e-01 7.16428957e-01 -2.74081884e-02 -2.91960507e+01] [ 1.05227596e-03 3.92510880e-02 9.99228825e-01 -6.92844995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.05, Y:-29.24, Z:-6.91 [[ 7.18235667e-01 6.95690988e-01 1.23115789e-02 7.70471181e+01] [-6.95788534e-01 7.18010261e-01 1.84277181e-02 -2.92447483e+01] [ 3.98015740e-03 -2.18016999e-02 9.99754392e-01 -6.90648085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.09, Y:-29.25, Z:-6.93 [[ 7.15616176e-01 6.98161539e-01 -2.15396238e-02 7.70853213e+01] [-6.98489943e-01 7.15373500e-01 -1.87764519e-02 -2.92453618e+01] [ 2.29987952e-03 2.84819432e-02 9.99591661e-01 -6.92602872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.10, Y:-29.28, Z:-6.91 [[ 7.14270884e-01 6.99864232e-01 -2.67599030e-03 7.70975000e+01] [-6.99851393e-01 7.14274726e-01 4.43213041e-03 -2.92775500e+01] [ 5.01328178e-03 -1.29294617e-03 9.99986598e-01 -6.91125230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.12, Y:-29.30, Z:-6.91 [[ 7.13183655e-01 7.00976297e-01 1.14222160e-03 7.71197627e+01] [-7.00963615e-01 7.13158703e-01 7.39419546e-03 -2.93020885e+01] [ 4.36857048e-03 -6.07407513e-03 9.99972010e-01 -6.90895338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.14, Y:-29.32, Z:-6.92 [[ 7.18032976e-01 6.95933664e-01 1.02460095e-02 7.71384341e+01] [-6.96005625e-01 7.17905190e-01 1.37225387e-02 -2.93231521e+01] [ 2.19431326e-03 -1.69845156e-02 9.99853345e-01 -6.91879259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.17, Y:-29.33, Z:-6.92 [[ 7.13990438e-01 6.99961810e-01 -1.64656699e-02 7.71745181e+01] [-7.00153703e-01 7.13843731e-01 -1.45574897e-02 -2.93323251e+01] [ 1.56422842e-03 2.19224082e-02 9.99758451e-01 -6.92309489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:-29.36, Z:-6.91 [[ 7.13671530e-01 7.00480222e-01 -6.36059041e-04 7.71895137e+01] [-7.00476052e-01 7.13669933e-01 2.92030660e-03 -2.93634926e+01] [ 2.49955323e-03 -1.63859556e-03 9.99995534e-01 -6.91158796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-29.39, Z:-6.91 [[ 7.14673649e-01 6.99453030e-01 -2.65234746e-03 7.72147691e+01] [-6.99448057e-01 7.14678570e-01 2.63771730e-03 -2.93874213e+01] [ 3.74053524e-03 -2.99277752e-05 9.99993004e-01 -6.91177638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-29.41, Z:-6.91 [[ 7.15912082e-01 6.98188845e-01 -1.49241170e-03 7.72388508e+01] [-6.98180890e-01 7.15911835e-01 3.69994926e-03 -2.94112913e+01] [ 3.65169850e-03 -1.60686505e-03 9.99992042e-01 -6.90962321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-29.44, Z:-6.91 [[ 7.20270918e-01 6.93544116e-01 1.43653927e-02 7.72545706e+01] [-6.93688241e-01 7.20035951e-01 1.85702306e-02 -2.94375891e+01] [ 2.53567500e-03 -2.33407010e-02 9.99724353e-01 -6.90805819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-29.44, Z:-6.92 [[ 7.17953288e-01 6.95714966e-01 -2.28858731e-02 7.72962367e+01] [-6.96078795e-01 7.17749228e-01 -1.76169743e-02 -2.94440125e+01] [ 4.16992510e-03 2.85785356e-02 9.99582853e-01 -6.91917488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-29.48, Z:-6.91 [[ 7.18472643e-01 6.95553185e-01 -1.68155542e-03 7.73115436e+01] [-6.95540275e-01 7.18470955e-01 4.81794251e-03 -2.94766805e+01] [ 4.55928399e-03 -2.29197037e-03 9.99986980e-01 -6.90980150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.33, Y:-29.50, Z:-6.91 [[ 7.18755766e-01 6.95252934e-01 -3.67506557e-03 7.73348143e+01] [-6.95244282e-01 7.18765159e-01 3.46907936e-03 -2.94968058e+01] [ 5.05339669e-03 6.16475358e-05 9.99987230e-01 -6.91009606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.36, Y:-29.52, Z:-6.90 [[ 7.19024140e-01 6.94983828e-01 1.32811657e-03 7.73561409e+01] [-6.94948517e-01 7.18965375e-01 1.16339624e-02 -2.95236771e+01] [ 7.13054592e-03 -9.28807248e-03 9.99931441e-01 -6.90418144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.38, Y:-29.54, Z:-6.91 [[ 7.19764158e-01 6.94199998e-01 -5.09115238e-03 7.73831950e+01] [-6.94183477e-01 7.19782159e-01 4.79005442e-03 -2.95411822e+01] [ 6.98977642e-03 8.64843706e-05 9.99975567e-01 -6.90687787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:-29.56, Z:-6.91 [[ 7.20320200e-01 6.93610810e-01 -6.54630455e-03 7.74086254e+01] [-6.93596835e-01 7.20348871e-01 4.57556368e-03 -2.95647517e+01] [ 7.88928352e-03 1.24462517e-03 9.99968105e-01 -6.90652086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:-29.59, Z:-6.90 [[ 7.21088859e-01 6.92842432e-01 4.71979726e-04 7.74265443e+01] [-6.92791922e-01 7.21027717e-01 1.25850841e-02 -2.95881492e+01] [ 8.37916979e-03 -9.40194765e-03 9.99920693e-01 -6.89987176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.45, Y:-29.61, Z:-6.90 [[ 7.23236994e-01 6.90572711e-01 -6.13041564e-03 7.74532780e+01] [-6.90539332e-01 7.23262633e-01 6.82604460e-03 -2.96059645e+01] [ 9.14778068e-03 -7.03554852e-04 9.99957911e-01 -6.90217092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.48, Y:-29.63, Z:-6.90 [[ 7.23916082e-01 6.89856972e-01 -6.54708021e-03 7.74765928e+01] [-6.89823779e-01 7.23945582e-01 6.77851074e-03 -2.96283453e+01] [ 9.41593268e-03 -3.90741328e-04 9.99955593e-01 -6.90159036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.50, Y:-29.65, Z:-6.90 [[ 7.25177399e-01 6.88548874e-01 -4.26482522e-03 7.74995056e+01] [-6.88496471e-01 7.25179893e-01 9.31302519e-03 -2.96526972e+01] [ 9.50523850e-03 -3.81727826e-03 9.99947538e-01 -6.90039931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-29.68, Z:-6.90 [[ 7.24992800e-01 6.88710113e-01 -7.98873063e-03 7.75257706e+01] [-6.88645346e-01 7.25035415e-01 9.55160168e-03 -2.96759333e+01] [ 1.23703973e-02 -1.42344028e-03 9.99922471e-01 -6.89642445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:-29.69, Z:-6.90 [[ 7.26206686e-01 6.87349533e-01 -1.32086755e-02 7.75515975e+01] [-6.87375899e-01 7.26295027e-01 3.14755299e-03 -2.96949468e+01] [ 1.17568644e-02 6.79355114e-03 9.99907808e-01 -6.90004139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.96, Y:-29.27, Z:-5.89 [[ 7.45925421e-01 -6.36175599e-01 1.97169656e-01 7.79618984e+01] [-6.65706634e-01 -7.21361308e-01 1.90977857e-01 -2.92692272e+01] [ 2.07351082e-02 -2.73712387e-01 -9.61588054e-01 -5.88646651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.64, Y:-29.75, Z:-6.90 [[ 7.76544440e-01 6.28945380e-01 -3.75025496e-02 7.76432098e+01] [-6.29373883e-01 7.77102489e-01 4.86111826e-04 -2.97466511e+01] [ 2.94490625e-02 2.32256379e-02 9.99296414e-01 -6.89906507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.66, Y:-29.78, Z:-6.88 [[ 7.76309821e-01 6.30079932e-01 -1.85024562e-02 7.76603942e+01] [-6.29637830e-01 7.76493128e-01 2.47916362e-02 -2.97804391e+01] [ 2.99877426e-02 -7.59614426e-03 9.99521402e-01 -6.88451695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:-29.80, Z:-6.88 [[ 7.77395735e-01 6.28646255e-01 -2.14419742e-02 7.76860641e+01] [-6.28306183e-01 7.77686552e-01 2.08558754e-02 -2.97981065e+01] [ 2.97861029e-02 -2.74114362e-03 9.99552537e-01 -6.88499717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-29.82, Z:-6.89 [[ 7.77406931e-01 6.28519222e-01 -2.45367058e-02 7.77132015e+01] [-6.28318997e-01 7.77788710e-01 1.61232865e-02 -2.98154475e+01] [ 2.92181682e-02 2.88252368e-03 9.99568902e-01 -6.88745137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-29.84, Z:-6.89 [[ 7.77729464e-01 6.28246705e-01 -2.10465935e-02 7.77377257e+01] [-6.27997218e-01 7.78013989e-01 1.77123629e-02 -2.98373545e+01] [ 2.75022778e-02 -5.58224294e-04 9.99621585e-01 -6.88600475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.75, Y:-29.86, Z:-6.88 [[ 7.74743478e-01 6.32077408e-01 -1.58332984e-02 7.77497106e+01] [-6.31409096e-01 7.74749645e-01 3.29475512e-02 -2.98614453e+01] [ 3.30922451e-02 -1.55286118e-02 9.99331659e-01 -6.88477690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.79, Y:-29.88, Z:-6.89 [[ 7.78109213e-01 6.27664520e-01 -2.41516540e-02 7.77876372e+01] [-6.27474318e-01 7.78478470e-01 1.57242623e-02 -2.98762515e+01] [ 2.86711042e-02 2.91934927e-03 9.99584636e-01 -6.88652307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-29.89, Z:-6.89 [[ 7.75711220e-01 6.30293214e-01 -3.16633412e-02 7.78189180e+01] [-6.30408962e-01 7.76227519e-01 7.44181016e-03 -2.98920821e+01] [ 2.92684792e-02 1.41881584e-02 9.99470886e-01 -6.88880293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.84, Y:-29.92, Z:-6.88 [[ 7.73894809e-01 6.33142858e-01 -1.47291128e-02 7.78360710e+01] [-6.32638121e-01 7.73933919e-01 2.82010235e-02 -2.99230598e+01] [ 2.92546366e-02 -1.25064275e-02 9.99493750e-01 -6.87995452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.87, Y:-29.93, Z:-6.89 [[ 7.73793764e-01 6.32589607e-01 -3.27658367e-02 7.78735213e+01] [-6.32838913e-01 7.74275923e-01 3.42115273e-03 -2.99288968e+01] [ 2.75339841e-02 1.80882298e-02 9.99457201e-01 -6.89193434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:-29.96, Z:-6.88 [[ 7.72887091e-01 6.34281378e-01 -1.82394757e-02 7.78897829e+01] [-6.33921691e-01 7.73082861e-01 2.20494894e-02 -2.99556625e+01] [ 2.80862066e-02 -5.47936642e-03 9.99590487e-01 -6.88183667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-29.97, Z:-6.89 [[ 7.73077831e-01 6.33847622e-01 -2.42458206e-02 7.79195264e+01] [-6.33731198e-01 7.73440723e-01 1.31991042e-02 -2.99703817e+01] [ 2.71189258e-02 5.16139814e-03 9.99618889e-01 -6.88638733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-29.99, Z:-6.88 [[ 7.71668578e-01 6.35797450e-01 -1.70061519e-02 7.79415215e+01] [-6.35457448e-01 7.71833687e-01 2.16007116e-02 -2.99923057e+01] [ 2.68595982e-02 -5.86190449e-03 9.99622029e-01 -6.88229319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-30.01, Z:-6.88 [[ 7.70880109e-01 6.36653594e-01 -2.03975018e-02 7.79688429e+01] [-6.36323736e-01 7.71144149e-01 2.07075831e-02 -3.00128085e+01] [ 2.89129713e-02 -2.98364937e-03 9.99577480e-01 -6.87954754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:-30.03, Z:-6.87 [[ 7.70469401e-01 6.37182916e-01 -1.93605993e-02 7.79935106e+01] [-6.36753084e-01 7.70686418e-01 2.42477955e-02 -3.00348341e+01] [ 3.03712320e-02 -6.35426316e-03 9.99518490e-01 -6.87434515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-30.05, Z:-6.88 [[ 7.71055165e-01 6.36364590e-01 -2.26724721e-02 7.80216096e+01] [-6.36118468e-01 7.71388051e-01 1.77135444e-02 -3.00487879e+01] [ 2.87615465e-02 7.64258338e-04 9.99586009e-01 -6.87605266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-30.07, Z:-6.88 [[ 7.71596770e-01 6.35540870e-01 -2.69485971e-02 7.80506844e+01] [-6.35475768e-01 7.72027290e-01 1.20171680e-02 -3.00658317e+01] [ 2.84424538e-02 7.85277244e-03 9.99564586e-01 -6.87944717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-30.09, Z:-6.87 [[ 7.72182768e-01 6.35035589e-01 -2.15307586e-02 7.80754211e+01] [-6.34786717e-01 7.72482878e-01 1.77771418e-02 -3.00900779e+01] [ 2.79212601e-02 -5.97630209e-05 9.99610124e-01 -6.87496728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:-30.11, Z:-6.87 [[ 7.73285904e-01 6.33755875e-01 -1.95550910e-02 7.80992830e+01] [-6.33486319e-01 7.73530571e-01 1.85887022e-02 -3.01075942e+01] [ 2.69071599e-02 -1.98649879e-03 9.99635963e-01 -6.87432640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:-30.13, Z:-6.87 [[ 7.73213750e-01 6.33896070e-01 -1.77839496e-02 7.81239003e+01] [-6.33599248e-01 7.73407615e-01 1.98155036e-02 -3.01279011e+01] [ 2.63152119e-02 -4.05372276e-03 9.99645476e-01 -6.87207702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-30.15, Z:-6.87 [[ 7.73625140e-01 6.33556740e-01 -1.04880723e-02 7.81425568e+01] [-6.33090453e-01 7.73535400e-01 2.89734806e-02 -3.01497898e+01] [ 2.64692391e-02 -1.57747146e-02 9.99525156e-01 -6.86781997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:-30.16, Z:-6.87 [[ 7.73720592e-01 6.32855349e-01 -2.91642513e-02 7.81782908e+01] [-6.32798607e-01 7.74218551e-01 1.23108995e-02 -3.01639242e+01] [ 3.03705229e-02 8.92990114e-03 9.99498819e-01 -6.87130446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:-30.19, Z:-6.86 [[ 7.73355243e-01 6.33856683e-01 -1.21397161e-02 7.81954907e+01] [-6.33266394e-01 7.73255519e-01 3.23971750e-02 -3.01911564e+01] [ 2.99222684e-02 -1.73668509e-02 9.99401346e-01 -6.86067585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:-30.21, Z:-6.86 [[ 7.71882602e-01 6.35223383e-01 -2.62393279e-02 7.82280658e+01] [-6.34862024e-01 7.72328453e-01 2.14236021e-02 -3.02073821e+01] [ 3.38741525e-02 1.21847111e-04 9.99426099e-01 -6.85975366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.25, Y:-30.23, Z:-6.86 [[ 7.71525013e-01 6.35597583e-01 -2.76562112e-02 7.82534749e+01] [-6.35217010e-01 7.72020310e-01 2.19997825e-02 -3.02263013e+01] [ 3.53341653e-02 5.94313305e-04 9.99375377e-01 -6.85819544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:-30.25, Z:-6.85 [[ 7.71254776e-01 6.35905578e-01 -2.81098987e-02 7.82804258e+01] [-6.35472503e-01 7.71766830e-01 2.34660897e-02 -3.02459642e+01] [ 3.66165047e-02 -2.35266060e-04 9.99329363e-01 -6.85491056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-30.27, Z:-6.85 [[ 7.71551356e-01 6.35996078e-01 -1.47477029e-02 7.82981332e+01] [-6.35268957e-01 7.71486460e-01 3.52419492e-02 -3.02686202e+01] [ 3.37913945e-02 -1.78222158e-02 9.99269989e-01 -6.84859249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-30.28, Z:-6.85 [[ 7.71492016e-01 6.35715900e-01 -2.57946445e-02 7.83289288e+01] [-6.35339539e-01 7.71922959e-01 2.18772846e-02 -3.02842066e+01] [ 3.38192160e-02 -4.89792866e-04 9.99427847e-01 -6.85303897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-30.30, Z:-6.85 [[ 7.71128212e-01 6.35776595e-01 -3.39028356e-02 7.83589012e+01] [-6.35585995e-01 7.71831268e-01 1.75195950e-02 -3.03011258e+01] [ 3.73058171e-02 8.03831354e-03 9.99271565e-01 -6.85196385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-30.32, Z:-6.85 [[ 7.72156616e-01 6.34742781e-01 -2.95932925e-02 7.83805763e+01] [-6.34429314e-01 7.72716957e-01 2.01977720e-02 -3.03185716e+01] [ 3.56876289e-02 3.17900897e-03 9.99357937e-01 -6.85354617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:-30.34, Z:-6.84 [[ 7.71485588e-01 6.35816075e-01 -2.34073965e-02 7.84037244e+01] [-6.35146072e-01 7.71792646e-01 3.04233245e-02 -3.03443067e+01] [ 3.74092953e-02 -8.60404046e-03 9.99262986e-01 -6.84275468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.42, Y:-30.37, Z:-6.85 [[ 7.72151928e-01 6.35437277e-01 -9.31370749e-04 7.84227177e+01] [-6.34646343e-01 7.71262305e-01 4.87696229e-02 -3.03736912e+01] [ 3.17083675e-02 -3.70664673e-02 9.98809620e-01 -6.84529681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-30.37, Z:-6.86 [[ 7.74148345e-01 6.32099829e-01 -3.38252289e-02 7.84610893e+01] [-6.32158663e-01 7.74770718e-01 1.02839266e-02 -3.03688905e+01] [ 3.27072651e-02 1.34216267e-02 9.99374852e-01 -6.85833812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-30.38, Z:-6.86 [[ 7.73730678e-01 6.31828010e-01 -4.61974370e-02 7.84926039e+01] [-6.32636743e-01 7.74439074e-01 -3.85643045e-03 -3.03831149e+01] [ 3.33404995e-02 3.22100346e-02 9.98924884e-01 -6.86026200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-30.41, Z:-6.84 [[ 7.70140245e-01 6.37349453e-01 -2.58781300e-02 7.85070108e+01] [-6.36970714e-01 7.70574774e-01 2.19733228e-02 -3.04146170e+01] [ 3.39457195e-02 -4.38929292e-04 9.99423582e-01 -6.84362817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-30.44, Z:-6.84 [[ 7.69326452e-01 6.38620987e-01 -1.73217994e-02 7.85282390e+01] [-6.37963790e-01 7.69402112e-01 3.19780049e-02 -3.04402003e+01] [ 3.37492541e-02 -1.35508443e-02 9.99338462e-01 -6.83615568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-30.45, Z:-6.84 [[ 7.67802083e-01 6.39724688e-01 -3.51039266e-02 7.85612273e+01] [-6.39720272e-01 7.68500745e-01 1.28288370e-02 -3.04506942e+01] [ 3.51843175e-02 1.26066857e-02 9.99301324e-01 -6.84290324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:-30.48, Z:-6.83 [[ 7.66797337e-01 6.41689318e-01 -1.60207129e-02 7.85790828e+01] [-6.40929032e-01 7.66776415e-01 3.55514550e-02 -3.04817259e+01] [ 3.50972937e-02 -1.69926211e-02 9.99239426e-01 -6.83124084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.61, Y:-30.50, Z:-6.83 [[ 7.65449026e-01 6.43053414e-01 -2.38766768e-02 7.86073230e+01] [-6.42614077e-01 7.65815484e-01 2.39539746e-02 -3.04964090e+01] [ 3.36888139e-02 -2.99205791e-03 9.99427892e-01 -6.83413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-30.51, Z:-6.84 [[ 7.63734497e-01 6.44812949e-01 -3.04282605e-02 7.86331094e+01] [-6.44580468e-01 7.64319201e-01 1.82257935e-02 -3.05126031e+01] [ 3.50091314e-02 5.69379516e-03 9.99370773e-01 -6.83607729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-30.54, Z:-6.83 [[ 7.62097217e-01 6.47387154e-01 -9.88459212e-03 7.86504547e+01] [-6.46729920e-01 7.61872174e-01 3.59332900e-02 -3.05446487e+01] [ 3.07935460e-02 -2.09919988e-02 9.99305305e-01 -6.82971576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:-30.55, Z:-6.84 [[ 7.63772372e-01 6.44897814e-01 -2.75421960e-02 7.86822732e+01] [-6.44842139e-01 7.64220863e-01 1.20453084e-02 -3.05510535e+01] [ 2.88163138e-02 8.56049479e-03 9.99548067e-01 -6.83965288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:-30.57, Z:-6.83 [[ 7.60671651e-01 6.48754775e-01 -2.22683817e-02 7.87053806e+01] [-6.48532117e-01 7.60996119e-01 1.70587199e-02 -3.05746512e+01] [ 2.80130781e-02 1.46567611e-03 9.99606482e-01 -6.83177666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-30.60, Z:-6.83 [[ 7.59538497e-01 6.50123927e-01 -2.09797985e-02 7.87285947e+01] [-6.49794290e-01 7.59825073e-01 2.08143925e-02 -3.05971174e+01] [ 2.94729115e-02 -2.17677914e-03 9.99563209e-01 -6.82795302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:-30.61, Z:-6.84 [[ 7.58886927e-01 6.50566962e-01 -2.92106066e-02 7.87594544e+01] [-6.50646578e-01 7.59338634e-01 7.99185569e-03 -3.06122293e+01] [ 2.73799794e-02 1.29408664e-02 9.99541330e-01 -6.83560927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-30.64, Z:-6.83 [[ 7.56893896e-01 6.53370845e-01 -1.47705460e-02 7.87751107e+01] [-6.52930449e-01 7.56971491e-01 2.59997959e-02 -3.06391830e+01] [ 2.81683908e-02 -1.00349475e-02 9.99552821e-01 -6.82567128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:-30.65, Z:-6.84 [[ 7.59560500e-01 6.49090150e-01 -4.18309018e-02 7.88100943e+01] [-6.49518097e-01 7.60334328e-01 4.23689119e-03 -3.06482916e+01] [ 3.45555950e-02 2.39517525e-02 9.99115721e-01 -6.83767393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-30.68, Z:-6.84 [[ 7.58917974e-01 6.50721644e-01 -2.45936893e-02 7.88305061e+01] [-6.50383345e-01 7.59316361e-01 2.09801806e-02 -3.06752445e+01] [ 3.23266483e-02 7.30897355e-05 9.99477355e-01 -6.83782438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:-30.70, Z:-6.83 [[ 7.54761621e-01 6.55928987e-01 -9.59472517e-03 7.88466824e+01] [-6.55530292e-01 7.54694380e-01 2.67661857e-02 -3.07004025e+01] [ 2.47978022e-02 -1.39124567e-02 9.99595675e-01 -6.82630622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-30.72, Z:-6.83 [[ 7.52703023e-01 6.57550049e-01 -3.26510646e-02 7.88794456e+01] [-6.57662735e-01 7.53262594e-01 8.67127883e-03 -3.07154431e+01] [ 3.02966254e-02 1.49464907e-02 9.99429196e-01 -6.83409133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-30.74, Z:-6.83 [[ 7.52087973e-01 6.58652967e-01 -2.32368290e-02 7.88986212e+01] [-6.58353961e-01 7.52446763e-01 1.98477005e-02 -3.07416722e+01] [ 3.05572236e-02 3.70841600e-04 9.99532950e-01 -6.82896268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.92, Y:-30.76, Z:-6.83 [[ 7.54066949e-01 6.56651810e-01 -1.38361022e-02 7.89214977e+01] [-6.56427039e-01 7.54181812e-01 1.77013126e-02 -3.07583175e+01] [ 2.20585356e-02 -4.26558316e-03 9.99747581e-01 -6.83157947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-30.78, Z:-6.83 [[ 7.51750698e-01 6.58929461e-01 -2.61314678e-02 7.89485765e+01] [-6.58756065e-01 7.52186776e-01 1.59844062e-02 -3.07827252e+01] [ 3.01883406e-02 5.19797438e-03 9.99530712e-01 -6.82940933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:-30.81, Z:-6.82 [[ 7.53016265e-01 6.57970344e-01 -6.44447129e-03 7.89638356e+01] [-6.57548028e-01 7.52824470e-01 2.97642122e-02 -3.08088392e+01] [ 2.44355246e-02 -1.81753865e-02 9.99536173e-01 -6.82118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:-30.82, Z:-6.83 [[ 7.55423239e-01 6.54606279e-01 -2.87462929e-02 7.89984667e+01] [-6.54815231e-01 7.55784084e-01 2.72606473e-03 -3.08176990e+01] [ 2.35104897e-02 1.67641778e-02 9.99583023e-01 -6.83295410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.01, Y:-30.85, Z:-6.82 [[ 7.53571343e-01 6.57126030e-01 -1.77654349e-02 7.90144196e+01] [-6.56759696e-01 7.53761743e-01 2.25817791e-02 -3.08488114e+01] [ 2.82299800e-02 -5.34935998e-03 9.99587141e-01 -6.82304282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:-30.86, Z:-6.84 [[ 7.56051607e-01 6.53679873e-01 -3.29938057e-02 7.90479674e+01] [-6.54158234e-01 7.56339440e-01 -5.25899998e-03 -3.08556472e+01] [ 2.15168141e-02 2.55592451e-02 9.99441720e-01 -6.83845078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:-30.89, Z:-6.83 [[ 7.56441518e-01 6.53710339e-01 -2.14248202e-02 7.90649212e+01] [-6.53611831e-01 7.56730212e-01 1.22865890e-02 -3.08871723e+01] [ 2.42446790e-02 4.70942998e-03 9.99694962e-01 -6.83191261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:-30.92, Z:-6.82 [[ 7.54046580e-01 6.56749577e-01 -9.68236281e-03 7.90803982e+01] [-6.56127685e-01 7.53845962e-01 3.48242192e-02 -3.09234275e+01] [ 3.01698014e-02 -1.99062171e-02 9.99346549e-01 -6.81615441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-30.94, Z:-6.81 [[ 7.53312444e-01 6.57586157e-01 -1.00402932e-02 7.91018510e+01] [-6.57017315e-01 7.53161601e-01 3.28001482e-02 -3.09416466e+01] [ 2.91308867e-02 -1.81121133e-02 9.99411498e-01 -6.81076851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-30.94, Z:-6.84 [[ 7.58567975e-01 6.50083647e-01 -4.43382337e-02 7.91460152e+01] [-6.51244390e-01 7.58632275e-01 -1.89160019e-02 -3.09383151e+01] [ 2.13394316e-02 4.32240992e-02 9.98837477e-01 -6.84406347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-30.98, Z:-6.83 [[ 7.57323105e-01 6.53019975e-01 -5.16009673e-03 7.91491306e+01] [-6.52825331e-01 7.57252859e-01 1.96772766e-02 -3.09774935e+01] [ 1.67571527e-02 -1.15334143e-02 9.99793068e-01 -6.82624514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:-30.99, Z:-6.83 [[ 7.58278371e-01 6.51732198e-01 -1.60951419e-02 7.91765415e+01] [-6.51697436e-01 7.58436442e-01 8.03840717e-03 -3.09916313e+01] [ 1.74460309e-02 4.39381239e-03 9.99838152e-01 -6.83300183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79361786499999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:79.19, Y:-31.03, Z:-6.82 [[ 7.57959020e-01 6.52170651e-01 -1.30983502e-02 7.91946770e+01] [-6.51705866e-01 7.57971849e-01 2.75343418e-02 -3.10262511e+01] [ 2.78852703e-02 -1.23336311e-02 9.99535039e-01 -6.81693049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:-31.05, Z:-6.81 [[ 7.57105624e-01 6.53120801e-01 -1.49764391e-02 7.92162941e+01] [-6.52543781e-01 7.57136420e-01 3.05132065e-02 -3.10510333e+01] [ 3.12680173e-02 -1.33289380e-02 9.99422158e-01 -6.81301968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-31.06, Z:-6.83 [[ 7.60546476e-01 6.48311058e-01 -3.55222396e-02 7.92521479e+01] [-6.48700231e-01 7.61043665e-01 7.41775433e-04 -3.10576660e+01] [ 2.75148767e-02 2.24791304e-02 9.99368611e-01 -6.82836481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.27, Y:-31.09, Z:-6.82 [[ 7.62431144e-01 6.46694147e-01 -2.20324926e-02 7.92675780e+01] [-6.46260376e-01 7.62738489e-01 2.40317338e-02 -3.10934804e+01] [ 3.23462117e-02 -4.08381534e-03 9.99468381e-01 -6.81658938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.29, Y:-31.12, Z:-6.81 [[ 7.62810143e-01 6.46297502e-01 -2.04993849e-02 7.92907281e+01] [-6.45945703e-01 7.63078805e-01 2.15612096e-02 -3.11152680e+01] [ 2.95776021e-02 -3.20561973e-03 9.99557347e-01 -6.81456835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.32, Y:-31.14, Z:-6.82 [[ 7.64422855e-01 6.44199229e-01 -2.57885831e-02 7.93173383e+01] [-6.43944950e-01 7.64853223e-01 1.82879306e-02 -3.11363018e+01] [ 3.15055517e-02 2.62671577e-03 9.99500125e-01 -6.81670592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:-31.16, Z:-6.81 [[ 7.64798670e-01 6.44178500e-01 -1.08191791e-02 7.93305448e+01] [-6.43694457e-01 7.64717736e-01 2.93978072e-02 -3.11624751e+01] [ 2.72110534e-02 -1.55191582e-02 9.99509237e-01 -6.80970347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:-31.18, Z:-6.81 [[ 7.64416770e-01 6.44231029e-01 -2.51671022e-02 7.93585276e+01] [-6.43910001e-01 7.64830671e-01 2.03459017e-02 -3.11805234e+01] [ 3.23560329e-02 6.52600355e-04 9.99476193e-01 -6.81054200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.39, Y:-31.20, Z:-6.82 [[ 7.67024101e-01 6.40916183e-01 -3.00079101e-02 7.93891777e+01] [-6.41069234e-01 7.67463536e-01 5.47346790e-03 -3.11961949e+01] [ 2.65380109e-02 1.50388661e-02 9.99534675e-01 -6.81955918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06361786499998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.41, Y:-31.22, Z:-6.82 [[ 7.68960555e-01 6.38625092e-01 -2.92857915e-02 7.94108301e+01] [-6.38639625e-01 7.69440020e-01 1.00739433e-02 -3.12205498e+01] [ 2.89671330e-02 1.09566019e-02 9.99520314e-01 -6.82076975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.43, Y:-31.25, Z:-6.82 [[ 7.68865124e-01 6.39037292e-01 -2.18577343e-02 7.94311147e+01] [-6.38755194e-01 7.69175483e-01 1.89968046e-02 -3.12475145e+01] [ 2.89520999e-02 -6.44239265e-04 9.99580592e-01 -6.81571528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.46, Y:-31.27, Z:-6.82 [[ 7.68631717e-01 6.39288261e-01 -2.27113033e-02 7.94556315e+01] [-6.39021453e-01 7.68967112e-01 1.84706188e-02 -3.12694814e+01] [ 2.92722951e-02 3.15906586e-04 9.99571425e-01 -6.81506534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.47, Y:-31.30, Z:-6.80 [[ 7.66870034e-01 6.41561526e-01 -1.75829037e-02 7.94749680e+01] [-6.40966137e-01 7.66981420e-01 3.00318492e-02 -3.12978886e+01] [ 3.27530395e-02 -1.17604794e-02 9.99394281e-01 -6.80496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:-31.32, Z:-6.81 [[ 7.65510106e-01 6.42908506e-01 -2.57474577e-02 7.95016150e+01] [-6.42540073e-01 7.65942974e-01 2.17626802e-02 -3.13161630e+01] [ 3.37124965e-02 -1.15778293e-04 9.99431566e-01 -6.80821629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-31.34, Z:-6.80 [[ 7.63433495e-01 6.45513381e-01 -2.19493511e-02 7.95207042e+01] [-6.44833381e-01 7.63688322e-01 3.11457382e-02 -3.13425380e+01] [ 3.68674539e-02 -9.62402553e-03 9.99273821e-01 -6.79876327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.55, Y:-31.35, Z:-6.81 [[ 7.63688599e-01 6.44531691e-01 -3.68595063e-02 7.95530370e+01] [-6.44560923e-01 7.64447928e-01 1.26720941e-02 -3.13549060e+01] [ 3.63447395e-02 1.40806636e-02 9.99240109e-01 -6.81133783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.57, Y:-31.38, Z:-6.80 [[ 7.62551290e-01 6.46491515e-01 -2.37539634e-02 7.95709846e+01] [-6.45959761e-01 7.62904737e-01 2.66898605e-02 -3.13848327e+01] [ 3.53767796e-02 -5.00828300e-03 9.99361496e-01 -6.80269856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:-31.41, Z:-6.80 [[ 7.60872630e-01 6.48323197e-01 -2.73838142e-02 7.95962068e+01] [-6.47971832e-01 7.61363828e-01 2.13921809e-02 -3.14063504e+01] [ 3.47180927e-02 1.46721529e-03 9.99396068e-01 -6.80335018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-31.43, Z:-6.80 [[ 7.60279901e-01 6.49099901e-01 -2.53730407e-02 7.96183371e+01] [-6.48733699e-01 7.60703165e-01 2.18009626e-02 -3.14281638e+01] [ 3.34523550e-02 -1.14487129e-04 9.99440307e-01 -6.80198688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.64, Y:-31.45, Z:-6.81 [[ 7.59695971e-01 6.49679405e-01 -2.79052455e-02 7.96426922e+01] [-6.49557258e-01 7.60174876e-01 1.44750110e-02 -3.14464330e+01] [ 3.06169831e-02 7.12944723e-03 9.99505764e-01 -6.80606823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.67, Y:-31.47, Z:-6.80 [[ 7.58451427e-01 6.51220558e-01 -2.57530060e-02 7.96660404e+01] [-6.50993655e-01 7.58880607e-01 1.75352415e-02 -3.14710181e+01] [ 3.09627665e-02 3.46541458e-03 9.99514531e-01 -6.80354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.69, Y:-31.49, Z:-6.80 [[ 7.57720214e-01 6.52120762e-01 -2.44660842e-02 7.96893260e+01] [-6.51869545e-01 7.58112087e-01 1.82252445e-02 -3.14933282e+01] [ 3.04330945e-02 2.13905900e-03 9.99534517e-01 -6.80250301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:-31.52, Z:-6.79 [[ 7.55294232e-01 6.54791680e-01 -2.79012155e-02 7.97097532e+01] [-6.54163409e-01 7.55800947e-01 2.88991728e-02 -3.15214838e+01] [ 4.00107031e-02 -3.57542427e-03 9.99192854e-01 -6.78999036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-31.55, Z:-6.78 [[ 7.52728823e-01 6.58208991e-01 -1.26587394e-02 7.97249276e+01] [-6.57403479e-01 7.52549853e-01 3.85925365e-02 -3.15467975e+01] [ 3.49282869e-02 -2.07278153e-02 9.99174846e-01 -6.78305290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.76, Y:-31.56, Z:-6.79 [[ 7.51719511e-01 6.58955313e-01 -2.63755962e-02 7.97558410e+01] [-6.58546507e-01 7.52182085e-01 2.32079428e-02 -3.15622116e+01] [ 3.51322482e-02 -7.63066461e-05 9.99382669e-01 -6.78954177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.79, Y:-31.57, Z:-6.82 [[ 7.52755341e-01 6.56872538e-01 -4.33343517e-02 7.97922136e+01] [-6.57768367e-01 7.53161567e-01 -9.40365943e-03 -3.15679159e+01] [ 2.64607626e-02 3.55826206e-02 9.99016369e-01 -6.81647043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-31.61, Z:-6.80 [[ 7.50500597e-01 6.60634577e-01 -1.76298063e-02 7.98016517e+01] [-6.60196104e-01 7.50672949e-01 2.51242510e-02 -3.16076722e+01] [ 2.98321676e-02 -7.21663595e-03 9.99528870e-01 -6.79711888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.83, Y:-31.63, Z:-6.80 [[ 7.49956084e-01 6.61044075e-01 -2.42198917e-02 7.98280224e+01] [-6.60793880e-01 7.50343667e-01 1.83256528e-02 -3.16261413e+01] [ 3.02873065e-02 2.26092139e-03 9.99538677e-01 -6.80008221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.85, Y:-31.65, Z:-6.80 [[ 7.49790055e-01 6.61271242e-01 -2.31347689e-02 7.98524502e+01] [-6.60957096e-01 7.50146881e-01 2.03807000e-02 -3.16492925e+01] [ 3.08316455e-02 9.84350649e-06 9.99524592e-01 -6.79774753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.88, Y:-31.67, Z:-6.80 [[ 7.49404353e-01 6.61640494e-01 -2.49994226e-02 7.98762143e+01] [-6.61354410e-01 7.49818845e-01 1.95459418e-02 -3.16727676e+01] [ 3.16774248e-02 1.88566447e-03 9.99496366e-01 -6.79768061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-31.70, Z:-6.79 [[ 7.49184781e-01 6.61990397e-01 -2.21557583e-02 7.98964605e+01] [-6.61513566e-01 7.49499057e-01 2.55140097e-02 -3.16979172e+01] [ 3.34957493e-02 -4.45837308e-03 9.99428916e-01 -6.79236201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.92, Y:-31.72, Z:-6.79 [[ 7.50141569e-01 6.60756609e-01 -2.62360459e-02 7.99222201e+01] [-6.60430467e-01 7.50598297e-01 2.08277465e-02 -3.17186636e+01] [ 3.34548024e-02 1.70332561e-03 9.99438780e-01 -6.79379266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.94, Y:-31.75, Z:-6.79 [[ 7.50145742e-01 6.60850682e-01 -2.36165534e-02 7.99417435e+01] [-6.60333042e-01 7.50505178e-01 2.65000188e-02 -3.17453875e+01] [ 3.52369011e-02 -4.28408566e-03 9.99369805e-01 -6.78777047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-31.77, Z:-6.78 [[ 7.52741157e-01 6.57951951e-01 -2.19084409e-02 7.99586382e+01] [-6.57268784e-01 7.53003669e-01 3.13563448e-02 -3.17718525e+01] [ 3.71281047e-02 -9.20347699e-03 9.99268132e-01 -6.78089855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.98, Y:-31.79, Z:-6.78 [[ 7.54394547e-01 6.55807038e-01 -2.83900771e-02 7.99847470e+01] [-6.55371975e-01 7.54928334e-01 2.38911003e-02 -3.17922783e+01] [ 3.71004253e-02 5.82745122e-04 9.99311372e-01 -6.78316121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.01, Y:-31.82, Z:-6.78 [[ 7.56209386e-01 6.53758485e-01 -2.73351152e-02 8.00069765e+01] [-6.53291779e-01 7.56702818e-01 2.47122687e-02 -3.18157171e+01] [ 3.68404140e-02 -8.29843499e-04 9.99320817e-01 -6.78134596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.03, Y:-31.84, Z:-6.78 [[ 7.59389550e-01 6.50079236e-01 -2.69165145e-02 8.00272701e+01] [-6.49635948e-01 7.59866056e-01 2.40148147e-02 -3.18395866e+01] [ 3.60644782e-02 -7.50663899e-04 9.99349183e-01 -6.78018672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.04, Y:-31.87, Z:-6.76 [[ 7.58668588e-01 6.51229638e-01 -1.79424859e-02 8.00416385e+01] [-6.50297242e-01 7.58664278e-01 3.92684270e-02 -3.18692345e+01] [ 3.91850866e-02 -1.81237729e-02 9.99067594e-01 -6.76309232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:-31.89, Z:-6.77 [[ 7.59483356e-01 6.49859606e-01 -2.94537645e-02 8.00699918e+01] [-6.49336745e-01 7.60053969e-01 2.60721236e-02 -3.18867451e+01] [ 3.93296706e-02 -6.75932345e-04 9.99226061e-01 -6.76791425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-31.91, Z:-6.77 [[ 7.60568601e-01 6.48617274e-01 -2.88276786e-02 8.00917011e+01] [-6.48114993e-01 7.61114375e-01 2.55316214e-02 -3.19119774e+01] [ 3.85014112e-02 -7.34898824e-04 9.99258276e-01 -6.76653422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:80.12, Y:-31.93, Z:-6.78 [[ 7.62496474e-01 6.45931456e-01 -3.70362238e-02 8.01219315e+01] [-6.46048235e-01 7.63226672e-01 1.03307937e-02 -3.19285018e+01] [ 3.49400185e-02 1.60499933e-02 9.99260523e-01 -6.78039990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.14, Y:-31.96, Z:-6.77 [[ 7.61937233e-01 6.47260180e-01 -2.24925013e-02 8.01359912e+01] [-6.46656939e-01 7.62232304e-01 2.89260703e-02 -3.19591287e+01] [ 3.58672046e-02 -7.49491786e-03 9.99328459e-01 -6.76759450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.16, Y:-31.98, Z:-6.77 [[ 7.61735863e-01 6.47167627e-01 -3.05374740e-02 8.01624275e+01] [-6.46878972e-01 7.62333746e-01 1.98709843e-02 -3.19786551e+01] [ 3.61396047e-02 4.61760839e-03 9.99336083e-01 -6.77330165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.18, Y:-32.01, Z:-6.76 [[ 7.60600298e-01 6.48781262e-01 -2.38759606e-02 8.01810108e+01] [-6.48089685e-01 7.60931531e-01 3.10316900e-02 -3.20065157e+01] [ 3.83007503e-02 -8.12894887e-03 9.99233192e-01 -6.76443808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.21, Y:-32.03, Z:-6.76 [[ 7.59679964e-01 6.49679998e-01 -2.83240551e-02 8.02068231e+01] [-6.49107613e-01 7.60203986e-01 2.73716522e-02 -3.20281765e+01] [ 3.93148746e-02 -2.40833596e-03 9.99223969e-01 -6.76471741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.23, Y:-32.05, Z:-6.76 [[ 7.58037044e-01 6.51617344e-01 -2.78330144e-02 8.02285943e+01] [-6.50989789e-01 7.58538634e-01 2.88346284e-02 -3.20529287e+01] [ 3.99015607e-02 -3.73870828e-03 9.99196621e-01 -6.76116935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:-32.07, Z:-6.76 [[ 7.57761080e-01 6.51825427e-01 -3.03604746e-02 8.02537157e+01] [-6.51352955e-01 7.58368442e-01 2.48321018e-02 -3.20732696e+01] [ 3.92106212e-02 9.58584578e-04 9.99230508e-01 -6.76235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:-32.09, Z:-6.76 [[ 7.57813289e-01 6.51685956e-01 -3.20067565e-02 8.02775756e+01] [-6.51403120e-01 7.58467650e-01 2.00199799e-02 -3.20918798e+01] [ 3.73228291e-02 5.67789424e-03 9.99287130e-01 -6.76487109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.29, Y:-32.12, Z:-6.75 [[ 7.55092220e-01 6.55260399e-01 -2.16690864e-02 8.02919986e+01] [-6.54417778e-01 7.55296909e-01 3.55520908e-02 -3.21223844e+01] [ 3.96624712e-02 -1.26644718e-02 9.99132874e-01 -6.74903873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:80.32, Y:-32.14, Z:-6.76 [[ 7.56177002e-01 6.53442390e-01 -3.47762104e-02 8.03234437e+01] [-6.53274251e-01 7.56917476e-01 1.75694806e-02 -3.21372845e+01] [ 3.78033647e-02 9.43276566e-03 9.99240676e-01 -6.76130285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-32.16, Z:-6.76 [[ 7.55724582e-01 6.54269795e-01 -2.84849305e-02 8.03445827e+01] [-6.53821666e-01 7.56261152e-01 2.42136208e-02 -3.21635441e+01] [ 3.73842871e-02 3.25236286e-04 9.99300910e-01 -6.75653764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:-32.19, Z:-6.75 [[ 7.55199678e-01 6.54926102e-01 -2.72992191e-02 8.03671080e+01] [-6.54422988e-01 7.55691331e-01 2.57131244e-02 -3.21862955e+01] [ 3.74699796e-02 -1.55330679e-03 9.99296547e-01 -6.75391161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-32.21, Z:-6.75 [[ 7.53685064e-01 6.56900871e-01 -2.09778291e-02 8.03849376e+01] [-6.56136275e-01 7.53886330e-01 3.37726234e-02 -3.22124842e+01] [ 3.80001643e-02 -1.16896073e-02 9.99209358e-01 -6.74551372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.41, Y:-32.23, Z:-6.75 [[ 7.52316857e-01 6.58122339e-01 -2.99054100e-02 8.04108949e+01] [-6.57664295e-01 7.52910088e-01 2.45779202e-02 -3.22291888e+01] [ 3.86913632e-02 1.17733670e-03 9.99250515e-01 -6.74955609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:-32.25, Z:-6.75 [[ 7.51217439e-01 6.59478811e-01 -2.75691405e-02 8.04327088e+01] [-6.58940316e-01 7.51720750e-01 2.67128233e-02 -3.22528833e+01] [ 3.83408359e-02 -1.90072057e-03 9.99262912e-01 -6.74653089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.46, Y:-32.27, Z:-6.75 [[ 7.51508927e-01 6.58731329e-01 -3.61575636e-02 8.04623050e+01] [-6.58441648e-01 7.52336178e-01 2.10919737e-02 -3.22748985e+01] [ 4.10965871e-02 7.95683923e-03 9.99123495e-01 -6.74738887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:-32.29, Z:-6.75 [[ 7.50950633e-01 6.58880931e-01 -4.41482198e-02 8.04872107e+01] [-6.58781419e-01 7.52098768e-01 1.88277727e-02 -3.22923542e+01] [ 4.56090821e-02 1.49452991e-02 9.98847561e-01 -6.75089318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.50, Y:-32.33, Z:-6.74 [[ 7.49439979e-01 6.61698087e-01 -2.22566696e-02 8.05003025e+01] [-6.60747060e-01 7.49643047e-01 3.80608056e-02 -3.23251336e+01] [ 4.18693199e-02 -1.38182604e-02 9.99027535e-01 -6.73720065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:-32.34, Z:-6.74 [[ 7.48784414e-01 6.62067188e-01 -3.14474133e-02 8.05285020e+01] [-6.61495527e-01 7.49444459e-01 2.75076419e-02 -3.23420586e+01] [ 4.17799967e-02 2.05029740e-04 9.99126814e-01 -6.74171890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-32.36, Z:-6.74 [[ 7.47728152e-01 6.63210899e-01 -3.24640309e-02 8.05515923e+01] [-6.62697137e-01 7.48430039e-01 2.61721393e-02 -3.23620300e+01] [ 4.16547039e-02 1.94417502e-03 9.99130175e-01 -6.74112667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.58, Y:-32.38, Z:-6.74 [[ 7.46795241e-01 6.63941621e-01 -3.84498670e-02 8.05793726e+01] [-6.63596948e-01 7.47737643e-01 2.29675511e-02 -3.23825119e+01] [ 4.39995260e-02 8.36315655e-03 9.98996546e-01 -6.74265861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:-32.41, Z:-6.74 [[ 7.46138202e-01 6.65090723e-01 -3.05305240e-02 8.06002191e+01] [-6.64415181e-01 7.46759521e-01 3.00447269e-02 -3.24070879e+01] [ 4.27814286e-02 -2.13257485e-03 9.99082180e-01 -6.73715697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.62, Y:-32.43, Z:-6.73 [[ 7.44469883e-01 6.66877658e-01 -3.22301518e-02 8.06223930e+01] [-6.66084321e-01 7.45161836e-01 3.26422403e-02 -3.24296266e+01] [ 4.57850598e-02 -2.83316604e-03 9.98947297e-01 -6.73005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-32.45, Z:-6.73 [[ 7.45627994e-01 6.65497859e-01 -3.39336617e-02 8.06489057e+01] [-6.64927455e-01 7.46397157e-01 2.76181655e-02 -3.24497366e+01] [ 4.37078186e-02 1.97054594e-03 9.99042413e-01 -6.73457648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.67, Y:-32.47, Z:-6.73 [[ 7.46081093e-01 6.65197536e-01 -2.95844825e-02 8.06716645e+01] [-6.64531900e-01 7.46662815e-01 2.98662856e-02 -3.24732212e+01] [ 4.19566126e-02 -2.62283859e-03 9.99115991e-01 -6.73123563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:-32.49, Z:-6.74 [[ 7.46155218e-01 6.64789990e-01 -3.61477628e-02 8.06987317e+01] [-6.64500604e-01 7.46985650e-01 2.12458401e-02 -3.24899234e+01] [ 4.11258819e-02 8.16751576e-03 9.99120590e-01 -6.73601160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:-32.52, Z:-6.72 [[ 7.44729300e-01 6.66869071e-01 -2.57664811e-02 8.07137440e+01] [-6.65853898e-01 7.45085291e-01 3.85550924e-02 -3.25181342e+01] [ 4.49094247e-02 -1.15563950e-02 9.98924218e-01 -6.71911301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:-32.53, Z:-6.73 [[ 7.46212560e-01 6.64550704e-01 -3.92323617e-02 8.07466144e+01] [-6.64320693e-01 7.47165867e-01 2.05227908e-02 -3.25310362e+01] [ 4.29515166e-02 1.07485054e-02 9.99019338e-01 -6.73270329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-32.56, Z:-6.73 [[ 7.46372251e-01 6.64726773e-01 -3.26616029e-02 8.07677833e+01] [-6.64103571e-01 7.47086522e-01 2.87780265e-02 -3.25563349e+01] [ 4.35305681e-02 2.11566689e-04 9.99052073e-01 -6.72621953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:-32.58, Z:-6.72 [[ 7.46349699e-01 6.64947945e-01 -2.83964320e-02 8.07907870e+01] [-6.64151667e-01 7.46867152e-01 3.30457446e-02 -3.25805693e+01] [ 4.31820622e-02 -5.80414392e-03 9.99050360e-01 -6.72111182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-32.60, Z:-6.72 [[ 7.47543936e-01 6.63485360e-01 -3.10683219e-02 8.08159451e+01] [-6.62780466e-01 7.48185633e-01 3.06645262e-02 -3.26002459e+01] [ 4.35903363e-02 -2.33160374e-03 9.99046769e-01 -6.72005602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:-32.61, Z:-6.72 [[ 7.49902088e-01 6.60352192e-01 -3.97723685e-02 8.08426109e+01] [-6.60013023e-01 7.50902063e-01 2.29978632e-02 -3.26132512e+01] [ 4.50518429e-02 9.00413552e-03 9.98944071e-01 -6.72462497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.87, Y:-32.64, Z:-6.72 [[ 7.49379718e-01 6.61056742e-01 -3.78684901e-02 8.08661566e+01] [-6.60467979e-01 7.50325757e-01 2.81657153e-02 -3.26383411e+01] [ 4.70328395e-02 3.90410928e-03 9.98885714e-01 -6.72116966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.88, Y:-32.67, Z:-6.71 [[ 7.48875728e-01 6.62079575e-01 -2.89098675e-02 8.08849605e+01] [-6.60834972e-01 7.49325137e-01 4.25320984e-02 -3.26696007e+01] [ 4.98225240e-02 -1.27466047e-02 9.98676745e-01 -6.70649752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.92, Y:-32.68, Z:-6.72 [[ 7.50776293e-01 6.59016353e-01 -4.50822012e-02 8.09186912e+01] [-6.58835909e-01 7.51997500e-01 2.08567632e-02 -3.26794204e+01] [ 4.76466506e-02 1.40430096e-02 9.98765533e-01 -6.72312127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:-32.70, Z:-6.72 [[ 7.52247430e-01 6.57983295e-01 -3.43771361e-02 8.09384290e+01] [-6.57353216e-01 7.53031949e-01 2.88033419e-02 -3.27012504e+01] [ 4.48391997e-02 9.30681037e-04 9.98993784e-01 -6.71799459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-32.72, Z:-6.71 [[ 7.52617297e-01 6.57554055e-01 -3.44944943e-02 8.09617896e+01] [-6.56718986e-01 7.53403729e-01 3.32113678e-02 -3.27249276e+01] [ 4.78265502e-02 -2.34226056e-03 9.98852910e-01 -6.71286561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:-32.75, Z:-6.71 [[ 7.53134514e-01 6.56818795e-01 -3.71143332e-02 8.09879398e+01] [-6.56129222e-01 7.54046635e-01 3.01349711e-02 -3.27455666e+01] [ 4.77791535e-02 1.65611178e-03 9.98856551e-01 -6.71308857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.01, Y:-32.77, Z:-6.71 [[ 7.52768407e-01 6.57476384e-01 -3.26271399e-02 8.10088809e+01] [-6.56591607e-01 7.53461928e-01 3.43887318e-02 -3.27673231e+01] [ 4.71930867e-02 -4.46404460e-03 9.98875811e-01 -6.70910525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:-32.78, Z:-6.72 [[ 7.54388571e-01 6.54956157e-01 -4.39353653e-02 8.10398948e+01] [-6.54696651e-01 7.55569671e-01 2.20627949e-02 -3.27824688e+01] [ 4.76463929e-02 1.21204162e-02 9.98790727e-01 -6.71603129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:-32.82, Z:-6.69 [[ 7.52161832e-01 6.58299123e-01 -2.99139420e-02 8.10513882e+01] [-6.56696628e-01 7.52559051e-01 4.90348215e-02 -3.28165517e+01] [ 5.47915878e-02 -1.72377363e-02 9.98349008e-01 -6.69084458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:-32.82, Z:-6.72 [[ 7.55363912e-01 6.53025177e-01 -5.46212285e-02 8.10918395e+01] [-6.53294812e-01 7.56950277e-01 1.52370188e-02 -3.28205324e+01] [ 5.12957110e-02 2.41742711e-02 9.98390883e-01 -6.71560996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25361786499998 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:81.10, Y:-32.86, Z:-6.69 [[ 7.53352314e-01 6.57129011e-01 -2.53328554e-02 8.10966136e+01] [-6.55756172e-01 7.53558854e-01 4.61832789e-02 -3.28554736e+01] [ 4.94381699e-02 -1.81801038e-02 9.98611712e-01 -6.69219210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-32.87, Z:-6.70 [[ 7.55560849e-01 6.54566851e-01 -2.58851377e-02 8.11278533e+01] [-6.53726843e-01 7.55950071e-01 3.43613804e-02 -3.28723835e+01] [ 4.20596922e-02 -9.04030439e-03 9.99074199e-01 -6.70247812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:81.16, Y:-32.89, Z:-6.71 [[ 7.55723794e-01 6.53956088e-01 -3.49711642e-02 8.11562863e+01] [-6.53545530e-01 7.56516310e-01 2.36920510e-02 -3.28878874e+01] [ 4.19498170e-02 4.95060138e-03 9.99107454e-01 -6.70832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:-32.90, Z:-6.71 [[ 7.55437446e-01 6.53515726e-01 -4.72383382e-02 8.11846873e+01] [-6.53524214e-01 7.56705441e-01 1.74062507e-02 -3.29039651e+01] [ 4.71207661e-02 1.77220643e-02 9.98731977e-01 -6.71242974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-32.94, Z:-6.69 [[ 7.54563058e-01 6.56052971e-01 -1.51357493e-02 8.11941651e+01] [-6.54859573e-01 7.54278281e-01 4.71509672e-02 -3.29390225e+01] [ 4.23500991e-02 -2.56665877e-02 9.98773095e-01 -6.68996952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:-32.95, Z:-6.70 [[ 7.53233119e-01 6.56518105e-01 -4.02969688e-02 8.12279398e+01] [-6.56012849e-01 7.54282769e-01 2.65451737e-02 -3.29492481e+01] [ 4.78226963e-02 6.44062531e-03 9.98835076e-01 -6.69980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.24, Y:-32.98, Z:-6.67 [[ 7.52475404e-01 6.58411908e-01 -1.65688205e-02 8.12392686e+01] [-6.56878882e-01 7.52076458e-01 5.37692865e-02 -3.29812447e+01] [ 4.78633583e-02 -2.95763573e-02 9.98415914e-01 -6.67499295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499997 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:81.79, Y:-32.30, Z:-5.78 [[ 7.86207329e-01 -6.17772274e-01 1.53444849e-02 8.17869215e+01] [-6.16280073e-01 -7.85655904e-01 -5.42556153e-02 -3.22998312e+01] [ 4.55731000e-02 3.31996621e-02 -9.98409172e-01 -5.77988145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:-32.23, Z:-5.84 [[ 8.30424486e-01 -5.52878410e-01 -6.87068918e-02 8.18449836e+01] [-5.55759794e-01 -8.13409440e-01 -1.71744389e-01 -3.22327667e+01] [ 3.90669302e-02 1.80805274e-01 -9.82742707e-01 -5.84426810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-32.19, Z:-5.94 [[ 8.69770722e-01 -4.64042484e-01 -1.67819736e-01 8.18813265e+01] [-4.93177177e-01 -8.06031267e-01 -3.27245884e-01 -3.21891109e+01] [ 1.65880389e-02 3.67393752e-01 -9.29917560e-01 -5.94109101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-32.19, Z:-5.95 [[ 9.03460222e-01 -3.91855880e-01 -1.73806205e-01 8.18796985e+01] [-4.28523247e-01 -8.36259069e-01 -3.42109042e-01 -3.21945216e+01] [-1.12895760e-02 3.83561910e-01 -9.23446158e-01 -5.94972630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58361786499998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:81.86, Y:-32.23, Z:-5.87 [[ 9.32264303e-01 -3.45736151e-01 -1.06535364e-01 8.18612284e+01] [-3.60395125e-01 -9.13243308e-01 -1.90005301e-01 -3.22330726e+01] [-3.16010072e-02 2.15529985e-01 -9.75985759e-01 -5.86727157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:-32.21, Z:-5.88 [[ 9.56193177e-01 -2.70806998e-01 -1.11167345e-01 8.18712756e+01] [-2.89058059e-01 -9.33459729e-01 -2.12363775e-01 -3.22090550e+01] [-4.62606438e-02 2.35194609e-01 -9.70846769e-01 -5.87597966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.89, Y:-32.14, Z:-6.02 [[ 9.72147419e-01 -1.58608685e-01 -1.72547621e-01 8.18866049e+01] [-2.21681217e-01 -8.61235865e-01 -4.57307580e-01 -3.21403635e+01] [-7.60712457e-02 4.82820950e-01 -8.72408790e-01 -6.02025398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:-33.07, Z:-6.73 [[ 9.75475646e-01 2.05633346e-01 7.84996258e-02 8.16589111e+01] [-2.00419037e-01 9.77246650e-01 -6.94348268e-02 -3.30690785e+01] [-9.09916120e-02 5.19991631e-02 9.94493144e-01 -6.73178277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:-33.10, Z:-6.72 [[ 9.75854876e-01 2.01492448e-01 8.43092740e-02 8.16873497e+01] [-1.99748196e-01 9.79426146e-01 -2.87242501e-02 -3.30958561e+01] [-8.83624268e-02 1.11900742e-02 9.96025534e-01 -6.71879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.72, Y:-33.11, Z:-6.71 [[ 9.75724985e-01 2.00560809e-01 8.79551948e-02 8.17171178e+01] [-2.00311659e-01 9.79661874e-01 -1.17410603e-02 -3.31116635e+01] [-8.85211475e-02 -6.16240513e-03 9.96055235e-01 -6.71312430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:81.75, Y:-33.11, Z:-6.72 [[ 9.76634479e-01 1.98625914e-01 8.20538853e-02 8.17520479e+01] [-1.96938887e-01 9.80008749e-01 -2.82476088e-02 -3.31106351e+01] [-8.60242326e-02 1.14279878e-02 9.96227500e-01 -6.72363254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79361786499999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:81.78, Y:-33.12, Z:-6.72 [[ 9.76922390e-01 1.96895767e-01 8.27931222e-02 8.17807881e+01] [-1.95754999e-01 9.80411427e-01 -2.17580649e-02 -3.31189333e+01] [-8.54553940e-02 5.04877325e-03 9.96329205e-01 -6.72445691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.81, Y:-33.14, Z:-6.71 [[ 9.76045234e-01 1.96611037e-01 9.31654508e-02 8.18088477e+01] [-1.98191308e-01 9.80131255e-01 7.93275394e-03 -3.31415353e+01] [-8.97547032e-02 -2.62073092e-02 9.95619039e-01 -6.71092783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:-33.13, Z:-6.73 [[ 9.76583066e-01 1.97215487e-01 8.59742279e-02 8.18459636e+01] [-1.95732092e-01 9.80327397e-01 -2.54389968e-02 -3.31336257e+01] [-8.92998552e-02 8.01537798e-03 9.95972535e-01 -6.72848909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.87, Y:-33.14, Z:-6.73 [[ 9.76513511e-01 1.98023790e-01 8.48995946e-02 8.18749006e+01] [-1.96478631e-01 9.80156163e-01 -2.62686875e-02 -3.31401882e+01] [-8.84166860e-02 8.97077216e-03 9.96043179e-01 -6.73121287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.91, Y:-33.15, Z:-6.73 [[ 9.76868047e-01 1.96781986e-01 8.36998708e-02 8.19057523e+01] [-1.95332724e-01 9.80412026e-01 -2.52465101e-02 -3.31468588e+01] [-8.70284183e-02 8.31318525e-03 9.96171143e-01 -6.73342489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94361786499998 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:81.94, Y:-33.16, Z:-6.74 [[ 9.76083632e-01 1.99557092e-01 8.62421676e-02 8.19351472e+01] [-1.97967925e-01 9.79845069e-01 -2.66897345e-02 -3.31558440e+01] [-8.98300884e-02 8.97822995e-03 9.95916636e-01 -6.73785823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97361786499998 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:81.97, Y:-33.17, Z:-6.74 [[ 9.75912142e-01 1.98377188e-01 9.07853628e-02 8.19684921e+01] [-1.97648213e-01 9.80124874e-01 -1.70415694e-02 -3.31680262e+01] [-9.23616509e-02 -1.31249026e-03 9.95724662e-01 -6.73813484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.00, Y:-33.18, Z:-6.73 [[ 9.76638384e-01 1.97296743e-01 8.51555189e-02 8.19999386e+01] [-1.97115373e-01 9.80322813e-01 -1.06165558e-02 -3.31757411e+01] [-8.55745098e-02 -6.41692599e-03 9.96311109e-01 -6.73318670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:-33.18, Z:-6.74 [[ 9.76454036e-01 1.98410633e-01 8.46802054e-02 8.20295470e+01] [-1.98210660e-01 9.80099419e-01 -1.08472425e-02 -3.31822737e+01] [-8.51472283e-02 -6.19268573e-03 9.96349136e-01 -6.73564661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:-33.20, Z:-6.72 [[ 9.76074063e-01 1.99822137e-01 8.57352776e-02 8.20589533e+01] [-2.01226997e-01 9.79512124e-01 7.98092182e-03 -3.31998153e+01] [-8.23839789e-02 -2.50422232e-02 9.96285987e-01 -6.72189352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.09, Y:-33.18, Z:-6.75 [[ 9.76122007e-01 2.02629500e-01 7.82758817e-02 8.20922272e+01] [-1.99846430e-01 9.78927974e-01 -4.19693477e-02 -3.31813135e+01] [-8.51306782e-02 2.53240484e-02 9.96047921e-01 -6.75420292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.13, Y:-33.20, Z:-6.75 [[ 9.76305736e-01 2.00197633e-01 8.21463215e-02 8.21258217e+01] [-1.99447175e-01 9.79755390e-01 -1.73262708e-02 -3.32010040e+01] [-8.39519797e-02 5.31885790e-04 9.96469659e-01 -6.74605184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15361786499999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:82.15, Y:-33.21, Z:-6.75 [[ 9.75897575e-01 2.01564292e-01 8.36406565e-02 8.21498837e+01] [-2.01280662e-01 9.79461353e-01 -1.18976111e-02 -3.32090555e+01] [-8.43209242e-02 -5.22439693e-03 9.96424953e-01 -6.74676249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.19, Y:-33.21, Z:-6.76 [[ 9.76663111e-01 2.02158223e-01 7.25342744e-02 8.21912779e+01] [-2.00122855e-01 9.79167251e-01 -3.43851460e-02 -3.32070433e+01] [-7.79744261e-02 1.90669376e-02 9.96773014e-01 -6.75939231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.22, Y:-33.23, Z:-6.75 [[ 9.76069609e-01 2.00656323e-01 8.38162221e-02 8.22151837e+01] [-2.00453535e-01 9.79642408e-01 -1.09148204e-02 -3.32257368e+01] [-8.43000533e-02 -6.14763360e-03 9.96421451e-01 -6.75111143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.25, Y:-33.23, Z:-6.75 [[ 9.76049685e-01 2.01288720e-01 8.25219045e-02 8.22485631e+01] [-2.00927172e-01 9.79523218e-01 -1.27489987e-02 -3.32344450e+01] [-8.33983511e-02 -4.13723674e-03 9.96507701e-01 -6.75151318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:82.28, Y:-33.24, Z:-6.76 [[ 9.75882851e-01 2.02088465e-01 8.25403782e-02 8.22802918e+01] [-2.01424686e-01 9.79367061e-01 -1.63785180e-02 -3.32401300e+01] [-8.41472371e-02 -6.42155002e-04 9.96453125e-01 -6.75519720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.31, Y:-33.24, Z:-6.76 [[ 9.75980970e-01 2.03164035e-01 7.86480805e-02 8.23117271e+01] [-2.02036380e-01 9.79128112e-01 -2.21233064e-02 -3.32449134e+01] [-8.15012068e-02 5.70215258e-03 9.96656931e-01 -6.75892733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.35, Y:-33.25, Z:-6.77 [[ 9.76391585e-01 2.02696619e-01 7.46562306e-02 8.23452101e+01] [-2.01140515e-01 9.79165482e-01 -2.78828117e-02 -3.32493118e+01] [-7.87525557e-02 1.22081501e-02 9.96819440e-01 -6.76504987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:82.37, Y:-33.27, Z:-6.76 [[ 9.75835345e-01 2.02373396e-01 8.24038149e-02 8.23717884e+01] [-2.02572711e-01 9.79248705e-01 -6.02246594e-03 -3.32666586e+01] [-8.19126159e-02 -1.08158291e-02 9.96580825e-01 -6.75739562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:82.40, Y:-33.28, Z:-6.76 [[ 9.74916159e-01 2.05107605e-01 8.64254255e-02 8.23980797e+01] [-2.06786851e-01 9.78325847e-01 1.08506368e-02 -3.32829008e+01] [-8.23266795e-02 -2.84501027e-02 9.96199232e-01 -6.75827741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.43, Y:-33.26, Z:-6.78 [[ 9.75849617e-01 2.05435667e-01 7.42543774e-02 8.24349063e+01] [-2.02038050e-01 9.78060893e-01 -5.07692415e-02 -3.32596948e+01] [-8.30551157e-02 3.45409352e-02 9.95946169e-01 -6.78281722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:-33.28, Z:-6.77 [[ 9.75804487e-01 2.03320910e-01 8.04127542e-02 8.24639400e+01] [-2.02323348e-01 9.79105211e-01 -2.04511319e-02 -3.32809275e+01] [-8.28906894e-02 3.68692858e-03 9.96551825e-01 -6.77360266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:-33.29, Z:-6.77 [[ 9.75558920e-01 2.04220035e-01 8.11108525e-02 8.24930865e+01] [-2.03717392e-01 9.78922154e-01 -1.45134441e-02 -3.32911695e+01] [-8.23651465e-02 -2.36497149e-03 9.96599413e-01 -6.77315099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.53, Y:-33.30, Z:-6.78 [[ 9.75796510e-01 2.03998435e-01 7.87769583e-02 8.25274728e+01] [-2.03116369e-01 9.78967564e-01 -1.91376547e-02 -3.32964094e+01] [-8.10241386e-02 2.67356695e-03 9.96708554e-01 -6.77801128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.56, Y:-33.31, Z:-6.78 [[ 9.75313661e-01 2.05787343e-01 8.00926457e-02 8.25570485e+01] [-2.05338655e-01 9.78592436e-01 -1.38882003e-02 -3.33053957e+01] [-8.12360731e-02 -2.90076466e-03 9.96690667e-01 -6.77987579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.59, Y:-33.31, Z:-6.78 [[ 9.75331864e-01 2.06162415e-01 7.88974828e-02 8.25889763e+01] [-2.05523827e-01 9.78517706e-01 -1.62189739e-02 -3.33112189e+01] [-8.05463267e-02 -3.96430584e-04 9.96750787e-01 -6.78230138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:82.61, Y:-33.33, Z:-6.78 [[ 9.74421894e-01 2.10419792e-01 7.89017307e-02 8.26137067e+01] [-2.11634336e-01 9.77321913e-01 7.26546022e-03 -3.33315391e+01] [-7.55835938e-02 -2.37779389e-02 9.96855922e-01 -6.78203534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.65, Y:-33.31, Z:-6.79 [[ 9.74823153e-01 2.10675611e-01 7.30452401e-02 8.26506872e+01] [-2.08348296e-01 9.77307469e-01 -3.82243283e-02 -3.33146452e+01] [-7.94405925e-02 2.20431090e-02 9.96595853e-01 -6.79471561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.68, Y:-33.33, Z:-6.78 [[ 9.74479051e-01 2.10851787e-01 7.70201462e-02 8.26790534e+01] [-2.10386594e-01 9.77515173e-01 -1.41974776e-02 -3.33341811e+01] [-7.82819250e-02 -2.36886178e-03 9.96928447e-01 -6.78466557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.70, Y:-33.35, Z:-6.79 [[ 9.73996644e-01 2.13753510e-01 7.50997614e-02 8.27040707e+01] [-2.14227715e-01 9.76782128e-01 -1.77807583e-03 -3.33473351e+01] [-7.37361747e-02 -1.43566104e-02 9.97174440e-01 -6.78814950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:82.74, Y:-33.35, Z:-6.79 [[ 9.74482983e-01 2.11050434e-01 7.64240111e-02 8.27428121e+01] [-2.10199777e-01 9.77471850e-01 -1.91007112e-02 -3.33471436e+01] [-7.87335329e-02 2.54900796e-03 9.96892438e-01 -6.79255350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.78, Y:-33.35, Z:-6.80 [[ 9.74786366e-01 2.10908539e-01 7.28637680e-02 8.27753142e+01] [-2.09129605e-01 9.77386112e-01 -3.13240605e-02 -3.33463891e+01] [-7.78225467e-02 1.52962961e-02 9.96849876e-01 -6.79858867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.80, Y:-33.37, Z:-6.78 [[ 9.74722682e-01 2.09154958e-01 7.85486907e-02 8.28044299e+01] [-2.10341681e-01 9.77602455e-01 7.05813583e-03 -3.33727956e+01] [-7.53131488e-02 -2.34017888e-02 9.96885292e-01 -6.77905914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.84, Y:-33.36, Z:-6.80 [[ 9.74897845e-01 2.10594583e-01 7.22780320e-02 8.28394688e+01] [-2.08878914e-01 9.77462245e-01 -3.06130442e-02 -3.33612971e+01] [-7.70959887e-02 1.47472339e-02 9.96914604e-01 -6.80120616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84361786499998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:82.86, Y:-33.39, Z:-6.80 [[ 9.73621275e-01 2.13940860e-01 7.93153272e-02 8.28645894e+01] [-2.15012868e-01 9.76597738e-01 5.13069304e-03 -3.33881782e+01] [-7.63615042e-02 -2.20491679e-02 9.96836373e-01 -6.79788661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87361786499999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:82.90, Y:-33.39, Z:-6.80 [[ 9.76112508e-01 2.03518718e-01 7.60559279e-02 8.29022376e+01] [-2.03774411e-01 9.79007685e-01 -4.46562921e-03 -3.33865856e+01] [-7.53681770e-02 -1.11392954e-02 9.97093553e-01 -6.80394343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.93, Y:-33.37, Z:-6.81 [[ 9.75435019e-01 2.10450468e-01 6.50931928e-02 8.29339064e+01] [-2.07548030e-01 9.77016485e-01 -4.86066205e-02 -3.33743960e+01] [-7.38264084e-02 3.39026359e-02 9.96694674e-01 -6.81434292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.96, Y:-33.40, Z:-6.80 [[ 9.75885925e-01 2.07541847e-01 6.76242848e-02 8.29648661e+01] [-2.06697819e-01 9.78213962e-01 -1.93250059e-02 -3.33956348e+01] [-7.01617669e-02 4.88120903e-03 9.97523684e-01 -6.80400730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.99, Y:-33.41, Z:-6.80 [[ 9.75793831e-01 2.05167420e-01 7.57147837e-02 8.29912526e+01] [-2.05593540e-01 9.78634981e-01 -2.20704357e-03 -3.34094532e+01] [-7.45499493e-02 -1.34128509e-02 9.97127073e-01 -6.80206402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.03, Y:-33.41, Z:-6.81 [[ 9.75586377e-01 2.07856514e-01 7.09005672e-02 8.30251590e+01] [-2.07085575e-01 9.78154689e-01 -1.81374859e-02 -3.34092290e+01] [-7.31217169e-02 3.01219946e-03 9.97318475e-01 -6.80698425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.06, Y:-33.42, Z:-6.81 [[ 9.75548795e-01 2.08451514e-01 6.96599892e-02 8.30561492e+01] [-2.07651462e-01 9.78025718e-01 -1.86162549e-02 -3.34156260e+01] [-7.20098475e-02 3.69606641e-03 9.97397073e-01 -6.80911857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.09, Y:-33.42, Z:-6.81 [[ 9.75550035e-01 2.07725142e-01 7.17801853e-02 8.30886564e+01] [-2.06994565e-01 9.78184610e-01 -1.75533375e-02 -3.34230266e+01] [-7.38605420e-02 2.26605084e-03 9.97266005e-01 -6.81201238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.12, Y:-33.43, Z:-6.81 [[ 9.75574130e-01 2.08084462e-01 7.03986744e-02 8.31202016e+01] [-2.07364413e-01 9.78107811e-01 -1.74673894e-02 -3.34308112e+01] [-7.24921857e-02 2.44255347e-03 9.97365989e-01 -6.81278111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:83.15, Y:-33.44, Z:-6.81 [[ 9.75358227e-01 2.07541481e-01 7.48522772e-02 8.31492532e+01] [-2.07543421e-01 9.78194401e-01 -7.83852991e-03 -3.34417940e+01] [-7.48468986e-02 -7.88972302e-03 9.97163825e-01 -6.81123467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:-33.44, Z:-6.82 [[ 9.75658352e-01 2.08323154e-01 6.84999551e-02 8.31828250e+01] [-2.07147507e-01 9.78017277e-01 -2.39189725e-02 -3.34413726e+01] [-7.19770154e-02 9.14715034e-03 9.97364346e-01 -6.81923790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.21, Y:-33.45, Z:-6.81 [[ 9.75756727e-01 2.07708928e-01 6.89623828e-02 8.32129301e+01] [-2.07451117e-01 9.78184003e-01 -1.09585500e-02 -3.34541001e+01] [-6.97340884e-02 -3.61344443e-03 9.97559071e-01 -6.81427621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:-33.47, Z:-6.81 [[ 9.74792195e-01 2.12615371e-01 6.76378664e-02 8.32322415e+01] [-2.13588526e-01 9.76895586e-01 7.41315093e-03 -3.34677678e+01] [-6.44989834e-02 -2.16729538e-02 9.97682396e-01 -6.81397669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.28, Y:-33.46, Z:-6.83 [[ 9.75410664e-01 2.10699981e-01 6.46494704e-02 8.32753802e+01] [-2.08871545e-01 9.77354571e-01 -3.39222718e-02 -3.34557186e+01] [-7.03328775e-02 1.95847109e-02 9.97331302e-01 -6.82742842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.30, Y:-33.49, Z:-6.82 [[ 9.74507094e-01 2.12470140e-01 7.20580543e-02 8.33045128e+01] [-2.13745915e-01 9.76834010e-01 1.03923325e-02 -3.34880553e+01] [-6.81806977e-02 -2.55295165e-02 9.97346297e-01 -6.81762979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:83.33, Y:-33.47, Z:-6.84 [[ 9.74891757e-01 2.14049274e-01 6.13919458e-02 8.33304431e+01] [-2.12345024e-01 9.76632863e-01 -3.31336854e-02 -3.34708545e+01] [-6.70496331e-02 1.92654826e-02 9.97563626e-01 -6.83512729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.37, Y:-33.48, Z:-6.83 [[ 9.74952439e-01 2.10918571e-01 7.05768997e-02 8.33680602e+01] [-2.10061925e-01 9.77494953e-01 -1.94320257e-02 -3.34831863e+01] [-7.30871384e-02 4.11978143e-03 9.97317050e-01 -6.82726780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:-33.49, Z:-6.83 [[ 9.74532580e-01 2.15530683e-01 6.19094095e-02 8.33876205e+01] [-2.14829997e-01 9.76488525e-01 -1.78390913e-02 -3.34877632e+01] [-6.42986994e-02 4.08477736e-03 9.97922338e-01 -6.83267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.43, Y:-33.49, Z:-6.83 [[ 9.74436955e-01 2.14144379e-01 6.79323656e-02 8.34308132e+01] [-2.12992298e-01 9.76762578e-01 -2.38568172e-02 -3.34933828e+01] [-7.14625958e-02 8.77789365e-03 9.97404655e-01 -6.83261558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.46, Y:-33.51, Z:-6.83 [[ 9.74571892e-01 2.10590084e-01 7.65600636e-02 8.34552123e+01] [-2.11001362e-01 9.77481846e-01 -2.76889894e-03 -3.35059042e+01] [-7.54191749e-02 -1.34557866e-02 9.97061126e-01 -6.83057324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.49, Y:-33.51, Z:-6.84 [[ 9.74574220e-01 2.11788823e-01 7.31476923e-02 8.34880382e+01] [-2.11196427e-01 9.77315453e-01 -1.58295589e-02 -3.35074086e+01] [-7.48408936e-02 -2.14512581e-05 9.97195487e-01 -6.83765200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:-33.51, Z:-6.84 [[ 9.73863413e-01 2.16877858e-01 6.74836820e-02 8.35238339e+01] [-2.15069741e-01 9.76038197e-01 -3.30823908e-02 -3.35079701e+01] [-7.30414893e-02 1.77040320e-02 9.97171755e-01 -6.84248143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:-33.52, Z:-6.84 [[ 9.73428772e-01 2.17762168e-01 7.08241714e-02 8.35512548e+01] [-2.17341802e-01 9.75999660e-01 -1.36823006e-02 -3.35235551e+01] [-7.21038547e-02 -2.07430799e-03 9.97394973e-01 -6.83726225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:-33.53, Z:-6.84 [[ 9.73701350e-01 2.17161963e-01 6.88938502e-02 8.35856171e+01] [-2.16716133e-01 9.76134684e-01 -1.39712423e-02 -3.35309263e+01] [-7.02836991e-02 -1.32659130e-03 9.97526161e-01 -6.83707503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-33.54, Z:-6.84 [[ 9.72740246e-01 2.21852144e-01 6.75132516e-02 8.36092310e+01] [-2.22334494e-01 9.74970374e-01 -3.78558283e-04 -3.35431846e+01] [-6.59074041e-02 -1.46422858e-02 9.97718306e-01 -6.84253958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.65, Y:-33.53, Z:-6.85 [[ 9.73335630e-01 2.19978329e-01 6.50175772e-02 8.36481631e+01] [-2.18433435e-01 9.75388366e-01 -3.00727603e-02 -3.35347603e+01] [-7.00327439e-02 1.50688764e-02 9.97430872e-01 -6.84760834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:-33.55, Z:-6.84 [[ 9.73261020e-01 2.19390165e-01 6.80510223e-02 8.36788607e+01] [-2.19013893e-01 9.75634682e-01 -1.30338807e-02 -3.35502246e+01] [-6.92524427e-02 -2.21875133e-03 9.97596700e-01 -6.84237345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.71, Y:-33.55, Z:-6.85 [[ 9.73286938e-01 2.20222252e-01 6.49206898e-02 8.37114171e+01] [-2.19411295e-01 9.75438437e-01 -1.94560684e-02 -3.35533784e+01] [-6.76107954e-02 4.69200459e-03 9.97700739e-01 -6.84640057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:-33.56, Z:-6.84 [[ 9.73187400e-01 2.19857442e-01 6.75943094e-02 8.37409854e+01] [-2.19742977e-01 9.75514266e-01 -9.21638102e-03 -3.35649220e+01] [-6.79655031e-02 -5.88410887e-03 9.97670320e-01 -6.84121728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:-33.57, Z:-6.84 [[ 9.73222268e-01 2.21090763e-01 6.29070063e-02 8.37734100e+01] [-2.20567605e-01 9.75252776e-01 -1.52300386e-02 -3.35699570e+01] [-6.47174534e-02 9.46965001e-04 9.97903179e-01 -6.84474700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.80, Y:-33.58, Z:-6.85 [[ 9.72944246e-01 2.20838987e-01 6.78942933e-02 8.38017535e+01] [-2.20638305e-01 9.75298807e-01 -1.05344902e-02 -3.35776202e+01] [-6.85436494e-02 -4.73061009e-03 9.97636903e-01 -6.84584112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.83, Y:-33.57, Z:-6.86 [[ 9.73051558e-01 2.23321233e-01 5.74307637e-02 8.38251131e+01] [-2.22211619e-01 9.74674989e-01 -2.51129863e-02 -3.35743768e+01] [-6.15845920e-02 1.16744475e-02 9.98033589e-01 -6.85637745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.85, Y:-33.59, Z:-6.85 [[ 9.72775171e-01 2.23302919e-01 6.20021978e-02 8.38533872e+01] [-2.23250428e-01 9.74729418e-01 -7.86183830e-03 -3.35914701e+01] [-6.21909376e-02 -6.19421608e-03 9.98045049e-01 -6.85432458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:-33.60, Z:-6.85 [[ 9.72293021e-01 2.25267045e-01 6.24583028e-02 8.38800415e+01] [-2.25198533e-01 9.74278168e-01 -8.22632022e-03 -3.35968878e+01] [-6.27048797e-02 -6.06712444e-03 9.98013671e-01 -6.85472706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.93, Y:-33.59, Z:-6.87 [[ 9.73677297e-01 2.20953536e-01 5.59647722e-02 8.39333203e+01] [-2.19057307e-01 9.74968318e-01 -3.80877170e-02 -3.35922783e+01] [-6.29794956e-02 2.48256530e-02 9.97706004e-01 -6.86614112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-33.61, Z:-6.86 [[ 9.72739096e-01 2.22580798e-01 6.50879399e-02 8.39545797e+01] [-2.22605093e-01 9.74883776e-01 -6.97106342e-03 -3.36125403e+01] [-6.50048015e-02 -7.70788096e-03 9.97855182e-01 -6.85746972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92361786499998 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:84.00, Y:-33.60, Z:-6.87 [[ 9.74610918e-01 2.17992255e-01 5.11168862e-02 8.39993192e+01] [-2.15961803e-01 9.75479937e-01 -4.24192532e-02 -3.36034743e+01] [-5.91105656e-02 3.03029724e-02 9.97791396e-01 -6.87083857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.03, Y:-33.63, Z:-6.85 [[ 9.75258345e-01 2.13227927e-01 5.83524753e-02 8.40283994e+01] [-2.13888307e-01 9.76844054e-01 5.24270132e-03 -3.36302838e+01] [-5.58833782e-02 -1.75939004e-02 9.98282276e-01 -6.85051609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.05, Y:-33.64, Z:-6.85 [[ 9.75489856e-01 2.12461536e-01 5.72681108e-02 8.40549337e+01] [-2.13031448e-01 9.77037290e-01 3.96683114e-03 -3.36363179e+01] [-5.51102808e-02 -1.60695121e-02 9.98350954e-01 -6.84971503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01361786499999 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:84.09, Y:-33.63, Z:-6.87 [[ 9.75538487e-01 2.14083853e-01 4.99275953e-02 8.40851353e+01] [-2.12858914e-01 9.76660074e-01 -2.87433913e-02 -3.36287209e+01] [-5.49157849e-02 1.74127507e-02 9.98339147e-01 -6.86544872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:84.11, Y:-33.65, Z:-6.85 [[ 9.75844061e-01 2.09743815e-01 6.11220127e-02 8.41146618e+01] [-2.10339902e-01 9.77622354e-01 3.41451295e-03 -3.36526253e+01] [-5.90380729e-02 -1.61884304e-02 9.98124462e-01 -6.85389595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07361786499997 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:84.16, Y:-33.64, Z:-6.87 [[ 9.76992117e-01 2.07956676e-01 4.73331238e-02 8.41570663e+01] [-2.06458054e-01 9.77841256e-01 -3.46633780e-02 -3.36419117e+01] [-5.34927621e-02 2.40935425e-02 9.98277529e-01 -6.87051493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:-33.67, Z:-6.83 [[ 9.78087186e-01 2.02724776e-01 4.74143533e-02 8.41781164e+01] [-2.04068787e-01 9.78626486e-01 2.54191163e-02 -3.36724369e+01] [-4.12478572e-02 -3.45379015e-02 9.98551825e-01 -6.83156910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13361786499998 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:84.21, Y:-33.66, Z:-6.85 [[ 9.78334102e-01 2.03407735e-01 3.85704274e-02 8.42092870e+01] [-2.03055258e-01 9.79082470e-01 -1.28871678e-02 -3.36616815e+01] [-4.03849790e-02 4.77602760e-03 9.99172779e-01 -6.84825039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.24, Y:-33.67, Z:-6.85 [[ 9.78409424e-01 2.02760609e-01 4.00391634e-02 8.42435298e+01] [-2.02684503e-01 9.79225749e-01 -5.99367738e-03 -3.36727717e+01] [-4.04226614e-02 -2.25104750e-03 9.99180135e-01 -6.84705502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.28, Y:-33.68, Z:-6.85 [[ 9.78384141e-01 2.03290445e-01 3.79139397e-02 8.42779927e+01] [-2.02980167e-01 9.79110517e-01 -1.19015968e-02 -3.36772630e+01] [-3.95414180e-02 3.94855573e-03 9.99210131e-01 -6.85061953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:-33.69, Z:-6.84 [[ 9.77959131e-01 2.02881145e-01 4.93475325e-02 8.43065361e+01] [-2.03644946e-01 9.78983863e-01 1.09238913e-02 -3.36948874e+01] [-4.60941864e-02 -2.07324949e-02 9.98721928e-01 -6.84368536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.34, Y:-33.69, Z:-6.86 [[ 9.77187105e-01 2.08161615e-01 4.21201204e-02 8.43398046e+01] [-2.07755264e-01 9.78082730e-01 -1.38536192e-02 -3.36893720e+01] [-4.40807541e-02 4.78690127e-03 9.99016503e-01 -6.85576360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.37, Y:-33.70, Z:-6.86 [[ 9.77106800e-01 2.08221572e-01 4.36586498e-02 8.43710728e+01] [-2.07957769e-01 9.78080910e-01 -1.05498882e-02 -3.36972567e+01] [-4.48984062e-02 1.22921207e-03 9.98990802e-01 -6.85569580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:-33.69, Z:-6.89 [[ 9.76633563e-01 2.09624440e-01 4.73759191e-02 8.44081015e+01] [-2.07211928e-01 9.76957202e-01 -5.11648628e-02 -3.36851670e+01] [-5.70096510e-02 4.01524668e-02 9.97565877e-01 -6.89214827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.43, Y:-33.71, Z:-6.88 [[ 9.75657247e-01 2.11899393e-01 5.64941088e-02 8.44347575e+01] [-2.11595001e-01 9.77291119e-01 -1.13852478e-02 -3.37098476e+01] [-5.76237180e-02 -8.45771457e-04 9.98338015e-01 -6.87848637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37361786499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.47, Y:-33.72, Z:-6.88 [[ 9.75385675e-01 2.13700515e-01 5.43587658e-02 8.44683950e+01] [-2.13323153e-01 9.76898885e-01 -1.27200681e-02 -3.37164567e+01] [-5.58213028e-02 8.10988878e-04 9.98440446e-01 -6.87958736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.50, Y:-33.73, Z:-6.88 [[ 9.74729433e-01 2.15775019e-01 5.78245024e-02 8.44984530e+01] [-2.15689583e-01 9.76430914e-01 -7.78933403e-03 -3.37252631e+01] [-5.81423755e-02 -4.87964967e-03 9.98296375e-01 -6.87835380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43361786499997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.53, Y:-33.73, Z:-6.88 [[ 9.74579333e-01 2.17980824e-01 5.17637278e-02 8.45322832e+01] [-2.17645709e-01 9.75952914e-01 -1.20936145e-02 -3.37292900e+01] [-5.31551370e-02 5.20033530e-04 9.98586131e-01 -6.88105139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.56, Y:-33.73, Z:-6.88 [[ 9.74203604e-01 2.19036542e-01 5.43169547e-02 8.45622572e+01] [-2.18569866e-01 9.75714139e-01 -1.44613976e-02 -3.37336768e+01] [-5.61653953e-02 2.21629607e-03 9.98419018e-01 -6.88415552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-33.75, Z:-6.88 [[ 9.73916035e-01 2.20452025e-01 5.37444028e-02 8.45941621e+01] [-2.20415198e-01 9.75383229e-01 -6.68557374e-03 -3.37454545e+01] [-5.38952374e-02 -5.33489570e-03 9.98532344e-01 -6.88026706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.63, Y:-33.74, Z:-6.89 [[ 9.73863722e-01 2.21451624e-01 5.04839416e-02 8.46263834e+01] [-2.20466946e-01 9.75089870e-01 -2.43735840e-02 -3.37423132e+01] [-5.46239498e-02 1.26065089e-02 9.98427414e-01 -6.88936437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.65, Y:-33.76, Z:-6.88 [[ 9.73355897e-01 2.23388146e-01 5.17303900e-02 8.46519795e+01] [-2.23273537e-01 9.74722523e-01 -8.05800080e-03 -3.37560315e+01] [-5.22228381e-02 -3.70672454e-03 9.98628577e-01 -6.88377989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.69, Y:-33.76, Z:-6.89 [[ 9.73515149e-01 2.22730034e-01 5.15711819e-02 8.46887544e+01] [-2.22501750e-01 9.74878938e-01 -1.01993871e-02 -3.37620502e+01] [-5.25473688e-02 -1.54542041e-03 9.98617237e-01 -6.88540553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.72, Y:-33.77, Z:-6.89 [[ 9.73256334e-01 2.23517352e-01 5.30292576e-02 8.47194685e+01] [-2.23322852e-01 9.74696848e-01 -9.64144439e-03 -3.37685648e+01] [-5.38424803e-02 -2.45904821e-03 9.98546414e-01 -6.88516120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64361786499998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:84.75, Y:-33.77, Z:-6.89 [[ 9.73262605e-01 2.24022261e-01 5.07339070e-02 8.47512871e+01] [-2.23535700e-01 9.74578107e-01 -1.51427960e-02 -3.37728506e+01] [-5.28364785e-02 3.39707768e-03 9.98597400e-01 -6.88880574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.78, Y:-33.78, Z:-6.89 [[ 9.73338912e-01 2.23045312e-01 5.34990848e-02 8.47803303e+01] [-2.22944006e-01 9.74798994e-01 -7.93041492e-03 -3.37818614e+01] [-5.39196959e-02 -4.20831885e-03 9.98536407e-01 -6.88812903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:-33.78, Z:-6.90 [[ 9.73546628e-01 2.23345008e-01 4.82075778e-02 8.48150127e+01] [-2.22494007e-01 9.74676248e-01 -2.24193776e-02 -3.37827408e+01] [-5.19940372e-02 1.11004123e-02 9.98585700e-01 -6.89686827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:-33.79, Z:-6.89 [[ 9.73383141e-01 2.23019981e-01 5.27953548e-02 8.48450494e+01] [-2.22716142e-01 9.74813782e-01 -1.16452231e-02 -3.37933278e+01] [-5.40627569e-02 -4.23113904e-04 9.98537450e-01 -6.89456807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-33.80, Z:-6.89 [[ 9.73288168e-01 2.23591917e-01 5.21228930e-02 8.48756909e+01] [-2.23705508e-01 9.74649687e-01 -3.71942645e-03 -3.38039446e+01] [-5.16331950e-02 -8.04010451e-03 9.98633752e-01 -6.89149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79361786499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.91, Y:-33.80, Z:-6.90 [[ 9.73482548e-01 2.23894533e-01 4.69357683e-02 8.49053654e+01] [-2.23390912e-01 9.74601171e-01 -1.57815560e-02 -3.38042339e+01] [-4.92770589e-02 4.87804524e-03 9.98773236e-01 -6.89732139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:-33.81, Z:-6.90 [[ 9.73699210e-01 2.23644788e-01 4.35069725e-02 8.49353946e+01] [-2.23272857e-01 9.74665376e-01 -1.32904539e-02 -3.38125435e+01] [-4.53770805e-02 3.22697839e-03 9.98964718e-01 -6.89865022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:-33.82, Z:-6.90 [[ 9.74227100e-01 2.21225252e-01 4.40561718e-02 8.49764125e+01] [-2.20835016e-01 9.75216394e-01 -1.35970811e-02 -3.38203914e+01] [-4.59723187e-02 3.51749950e-03 9.98936521e-01 -6.90174713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.00, Y:-33.83, Z:-6.90 [[ 9.73658662e-01 2.23429139e-01 4.54777932e-02 8.50031472e+01] [-2.23133146e-01 9.74719557e-01 -1.15491810e-02 -3.38267419e+01] [-4.69085180e-02 1.09735706e-03 9.98898587e-01 -6.90388625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.04, Y:-33.83, Z:-6.91 [[ 9.73294522e-01 2.24486741e-01 4.79945534e-02 8.50356359e+01] [-2.24199938e-01 9.74477102e-01 -1.13474901e-02 -3.38332833e+01] [-4.93169543e-02 2.84074042e-04 9.98783138e-01 -6.90637952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.05, Y:-33.83, Z:-6.91 [[ 9.73079347e-01 2.28246587e-01 3.19386766e-02 8.50486947e+01] [-2.27585964e-01 9.73485604e-01 -2.30305690e-02 -3.38326130e+01] [-3.63484907e-02 1.51417766e-02 9.99224456e-01 -6.91280371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:-33.86, Z:-6.90 [[ 9.72824724e-01 2.25670910e-01 5.18140568e-02 8.50909220e+01] [-2.26731926e-01 9.73833418e-01 1.55276324e-02 -3.38576887e+01] [-4.69541251e-02 -2.68535656e-02 9.98536026e-01 -6.90289227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:-33.83, Z:-6.92 [[ 9.71878093e-01 2.33682415e-01 2.90775054e-02 8.51174552e+01] [-2.32251256e-01 9.71590080e-01 -4.55200105e-02 -3.38346902e+01] [-3.88886417e-02 3.74866138e-02 9.98540148e-01 -6.92484269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03361786499998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:85.16, Y:-33.86, Z:-6.91 [[ 9.71314697e-01 2.32805624e-01 4.84695806e-02 8.51561574e+01] [-2.33158786e-01 9.72437216e-01 1.68565030e-03 -3.38644871e+01] [-4.67411952e-02 -1.29384055e-02 9.98823237e-01 -6.90865403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-33.86, Z:-6.91 [[ 9.71653402e-01 2.32925605e-01 4.04392036e-02 8.51906205e+01] [-2.32433968e-01 9.72471761e-01 -1.65264696e-02 -3.38633005e+01] [-4.31754215e-02 6.65855585e-03 9.99045318e-01 -6.91400601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.20, Y:-33.87, Z:-6.92 [[ 9.70224461e-01 2.39285316e-01 3.75104463e-02 8.52012846e+01] [-2.38972977e-01 9.70943603e-01 -1.26663370e-02 -3.38683258e+01] [-3.94513963e-02 3.32520695e-03 9.99215958e-01 -6.91776388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:-33.89, Z:-6.91 [[ 9.70528036e-01 2.35315079e-01 5.19821596e-02 8.52437084e+01] [-2.35832760e-01 9.71785535e-01 3.97281799e-03 -3.38869192e+01] [-4.95806468e-02 -1.61148274e-02 9.98640111e-01 -6.91246029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15361786499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.27, Y:-33.88, Z:-6.92 [[ 9.70552050e-01 2.36460317e-01 4.59916952e-02 8.52732464e+01] [-2.36008022e-01 9.71633691e-01 -1.51057877e-02 -3.38840526e+01] [-4.82589999e-02 3.80654417e-03 9.98827602e-01 -6.91950752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:-33.90, Z:-6.92 [[ 9.70645706e-01 2.35624756e-01 4.82481908e-02 8.53033786e+01] [-2.35525333e-01 9.71836773e-01 -7.81685343e-03 -3.38960978e+01] [-4.87312103e-02 -3.77627601e-03 9.98804790e-01 -6.91705659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.33, Y:-33.90, Z:-6.93 [[ 9.71101256e-01 2.35000553e-01 4.16784279e-02 8.53299681e+01] [-2.34339840e-01 9.71945763e-01 -2.01562119e-02 -3.38970044e+01] [-4.52458924e-02 9.80680654e-03 9.98927743e-01 -6.92533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.37, Y:-33.92, Z:-6.92 [[ 9.71760740e-01 2.30988037e-01 4.82243881e-02 8.53668127e+01] [-2.31570216e-01 9.72794569e-01 6.77948570e-03 -3.39186212e+01] [-4.53464428e-02 -1.77553700e-02 9.98813520e-01 -6.92115339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:-33.91, Z:-6.93 [[ 9.71323782e-01 2.34374334e-01 3.99847629e-02 8.53987950e+01] [-2.33276970e-01 9.71939237e-01 -3.02650915e-02 -3.39088753e+01] [-4.59561206e-02 2.00696788e-02 9.98741830e-01 -6.93022220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:-33.93, Z:-6.92 [[ 9.70924112e-01 2.35204421e-01 4.45561242e-02 8.54260258e+01] [-2.35367052e-01 9.71905179e-01 -1.63500152e-03 -3.39328336e+01] [-4.36888875e-02 -8.89958118e-03 9.99005545e-01 -6.91775888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:-33.94, Z:-6.92 [[ 9.70949940e-01 2.35652280e-01 4.15236848e-02 8.54579519e+01] [-2.35436143e-01 9.71837436e-01 -1.00906120e-02 -3.39367852e+01] [-4.27321471e-02 2.13028940e-05 9.99086564e-01 -6.92109171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:-33.95, Z:-6.92 [[ 9.70770740e-01 2.36610628e-01 4.02440210e-02 8.54891742e+01] [-2.36439412e-01 9.71604266e-01 -9.03072281e-03 -3.39466074e+01] [-4.12380275e-02 -7.48511190e-04 9.99149070e-01 -6.92053413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.52, Y:-33.95, Z:-6.92 [[ 9.71041008e-01 2.35661084e-01 3.92837782e-02 8.55218717e+01] [-2.35402350e-01 9.71834014e-01 -1.11527441e-02 -3.39543110e+01] [-4.08055796e-02 1.58227818e-03 9.99165853e-01 -6.92283646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42361786499998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:85.55, Y:-33.96, Z:-6.92 [[ 9.71082499e-01 2.35818546e-01 3.72611489e-02 8.55527423e+01] [-2.35596834e-01 9.71796340e-01 -1.02959198e-02 -3.39642644e+01] [-3.86382170e-02 1.21957885e-03 9.99252521e-01 -6.92186406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45361786499998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:85.58, Y:-33.97, Z:-6.92 [[ 9.71269574e-01 2.34780362e-01 3.89049562e-02 8.55829160e+01] [-2.34592886e-01 9.72048446e-01 -9.38062634e-03 -3.39731777e+01] [-4.00198891e-02 -1.57090243e-05 9.99198883e-01 -6.92345222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.61, Y:-33.98, Z:-6.92 [[ 9.71408235e-01 2.34532430e-01 3.68860518e-02 8.56148291e+01] [-2.34243235e-01 9.72103504e-01 -1.20367970e-02 -3.39811291e+01] [-3.86800795e-02 3.05233562e-03 9.99246984e-01 -6.92438624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.65, Y:-33.99, Z:-6.92 [[ 9.71656108e-01 2.33676659e-01 3.57718761e-02 8.56450311e+01] [-2.33611044e-01 9.72311233e-01 -6.06183984e-03 -3.39940231e+01] [-3.61979074e-02 -2.46668160e-03 9.99341597e-01 -6.92146238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:85.68, Y:-34.01, Z:-6.92 [[ 9.71305839e-01 2.34878809e-01 3.73752847e-02 8.56755785e+01] [-2.34963774e-01 9.72001717e-01 -2.16504262e-03 -3.40064873e+01] [-3.68373635e-02 -6.67891942e-03 9.99298955e-01 -6.92409678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57361786499997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.71, Y:-34.02, Z:-6.92 [[ 9.71127184e-01 2.35690087e-01 3.69076653e-02 8.57057334e+01] [-2.35789704e-01 9.71802630e-01 -1.69219249e-03 -3.40159609e+01] [-3.62657992e-02 -7.05911334e-03 9.99317247e-01 -6.92265960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-34.02, Z:-6.93 [[ 9.71589536e-01 2.34707443e-01 3.04333767e-02 8.57397460e+01] [-2.34226478e-01 9.72004910e-01 -1.85583137e-02 -3.40153944e+01] [-3.39371660e-02 1.09027607e-02 9.99364497e-01 -6.92586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63361786499998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:85.76, Y:-34.04, Z:-6.92 [[ 9.72224406e-01 2.30099826e-01 4.28225976e-02 8.57624527e+01] [-2.30982448e-01 9.72811401e-01 1.68845370e-02 -3.40402070e+01] [-3.77731822e-02 -2.63068274e-02 9.98940007e-01 -6.92182577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.80, Y:-34.03, Z:-6.93 [[ 9.71379032e-01 2.35780176e-01 2.88181417e-02 8.58011467e+01] [-2.34825632e-01 9.71477768e-01 -3.29828448e-02 -3.40264442e+01] [-3.57728850e-02 2.52716055e-02 9.99040363e-01 -6.93289395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.83, Y:-34.04, Z:-6.93 [[ 9.71202917e-01 2.36115501e-01 3.18490895e-02 8.58296308e+01] [-2.35787252e-01 9.71707423e-01 -1.37497893e-02 -3.40449621e+01] [-3.41945351e-02 5.84422619e-03 9.99398108e-01 -6.92690827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.86, Y:-34.06, Z:-6.93 [[ 9.70851081e-01 2.37322034e-01 3.35623434e-02 8.58601393e+01] [-2.37191307e-01 9.71430984e-01 -7.88206826e-03 -3.40581103e+01] [-3.44740888e-02 -3.08381604e-04 9.99405544e-01 -6.92527626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.89, Y:-34.07, Z:-6.92 [[ 9.70444362e-01 2.38963325e-01 3.36789296e-02 8.58889427e+01] [-2.38911580e-01 9.71025111e-01 -5.61162913e-03 -3.40686728e+01] [-3.40440600e-02 -2.60051243e-03 9.99416950e-01 -6.92465898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.92, Y:-34.08, Z:-6.93 [[ 9.70035561e-01 2.41024078e-01 3.06333697e-02 8.59215104e+01] [-2.40805287e-01 9.70514501e-01 -1.06965625e-02 -3.40756346e+01] [-3.23082586e-02 2.99936861e-03 9.99473451e-01 -6.92584052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81361786499998 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:85.94, Y:-34.10, Z:-6.92 [[ 9.68268071e-01 2.46886458e-01 3.87817053e-02 8.59433464e+01] [-2.47883744e-01 9.68507789e-01 2.33733123e-02 -3.41038840e+01] [-3.17898294e-02 -3.22449863e-02 9.98974308e-01 -6.91992474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.98, Y:-34.09, Z:-6.93 [[ 9.69043538e-01 2.45883222e-01 2.22724565e-02 8.59839779e+01] [-2.45253873e-01 9.69065296e-01 -2.76222852e-02 -3.40874896e+01] [-2.83753211e-02 2.13047908e-02 9.99370275e-01 -6.92948166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87361786499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.01, Y:-34.10, Z:-6.93 [[ 9.68696136e-01 2.46912809e-01 2.57266614e-02 8.60119554e+01] [-2.46647090e-01 9.69017026e-01 -1.30849553e-02 -3.41038246e+01] [-2.81604160e-02 6.32993946e-03 9.99583375e-01 -6.92644901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:86.04, Y:-34.12, Z:-6.92 [[ 9.68053745e-01 2.49302413e-01 2.68375372e-02 8.60429802e+01] [-2.49112945e-01 9.68420309e-01 -1.02394007e-02 -3.41174822e+01] [-2.85427234e-02 3.22671221e-03 9.99587366e-01 -6.92489864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.07, Y:-34.13, Z:-6.92 [[ 9.67699750e-01 2.50600040e-01 2.75102507e-02 8.60714537e+01] [-2.50599345e-01 9.68084457e-01 -3.52887848e-03 -3.41303885e+01] [-2.75165832e-02 -3.47915599e-03 9.99615293e-01 -6.92080188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499997 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:86.09, Y:-34.15, Z:-6.92 [[ 9.66206850e-01 2.55727154e-01 3.23719899e-02 8.60946839e+01] [-2.56487914e-01 9.66297196e-01 2.19926990e-02 -3.41539557e+01] [-2.56568327e-02 -2.95525206e-02 9.99233894e-01 -6.91720485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.14, Y:-34.14, Z:-6.93 [[ 9.66957902e-01 2.54265172e-01 1.84834334e-02 8.61353679e+01] [-2.53643725e-01 9.66815222e-01 -3.05481265e-02 -3.41388976e+01] [-2.56373894e-02 2.48505454e-02 9.99362384e-01 -6.93036848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.16, Y:-34.16, Z:-6.92 [[ 9.66677065e-01 2.54896472e-01 2.37326827e-02 8.61645897e+01] [-2.54822193e-01 9.66968344e-01 -6.15397272e-03 -3.41616902e+01] [-2.45173788e-02 -9.87099641e-05 9.99699399e-01 -6.92080368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05361786499998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:86.19, Y:-34.17, Z:-6.92 [[ 9.66640675e-01 2.55056053e-01 2.34992585e-02 8.61940316e+01] [-2.55097074e-01 9.66914593e-01 -1.28565218e-03 -3.41737032e+01] [-2.30496893e-02 -4.75182840e-03 9.99723028e-01 -6.91815944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.23, Y:-34.18, Z:-6.92 [[ 9.66596641e-01 2.55509321e-01 2.01474594e-02 8.62272365e+01] [-2.55433039e-01 9.66806117e-01 -6.31630637e-03 -3.41827116e+01] [-2.10925622e-02 9.58993734e-04 9.99777067e-01 -6.91952030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-34.20, Z:-6.92 [[ 9.66698525e-01 2.55108612e-01 2.03360968e-02 8.62567873e+01] [-2.55102902e-01 9.66909507e-01 -2.91811210e-03 -3.41976144e+01] [-2.04076009e-02 -2.36686267e-03 9.99788942e-01 -6.91645499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:86.29, Y:-34.21, Z:-6.92 [[ 9.66916138e-01 2.54332088e-01 1.97071155e-02 8.62878154e+01] [-2.54222798e-01 9.67113355e-01 -7.90742647e-03 -3.42052418e+01] [-2.10701269e-02 2.63582021e-03 9.99774526e-01 -6.91956205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17361786499998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:86.32, Y:-34.22, Z:-6.92 [[ 9.67043046e-01 2.53950265e-01 1.83578546e-02 8.63200980e+01] [-2.53921115e-01 9.67216904e-01 -3.94062979e-03 -3.42178451e+01] [-1.87567513e-02 -8.50688278e-04 9.99823715e-01 -6.91654250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20361786499998 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:86.35, Y:-34.24, Z:-6.91 [[ 9.68205179e-01 2.49072799e-01 2.32695405e-02 8.63484039e+01] [-2.49625545e-01 9.68020230e-01 2.49784274e-02 -3.42394389e+01] [-1.63039391e-02 -2.99929145e-02 9.99417133e-01 -6.91347098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:86.38, Y:-34.22, Z:-6.93 [[ 9.67563770e-01 2.52489952e-01 8.31712029e-03 8.63814448e+01] [-2.52093406e-01 9.67135554e-01 -3.31320913e-02 -3.42225044e+01] [-1.64093029e-02 2.99607200e-02 9.99416375e-01 -6.92902995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:-34.25, Z:-6.92 [[ 9.67571241e-01 2.52207230e-01 1.40501518e-02 8.64105880e+01] [-2.52134028e-01 9.67668520e-01 -6.78732115e-03 -3.42457982e+01] [-1.53077010e-02 3.02469538e-03 9.99878255e-01 -6.91858883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29361786499999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:86.44, Y:-34.26, Z:-6.92 [[ 9.67773891e-01 2.51404031e-01 1.44813369e-02 8.64383336e+01] [-2.51403773e-01 9.67880496e-01 -1.86794489e-03 -3.42598712e+01] [-1.44858124e-02 -1.83291444e-03 9.99893395e-01 -6.91616214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:86.47, Y:-34.27, Z:-6.92 [[ 9.68014433e-01 2.50542169e-01 1.32920558e-02 8.64700952e+01] [-2.50519822e-01 9.68105683e-01 -3.34743875e-03 -3.42699157e+01] [-1.37067893e-02 -8.95544236e-05 9.99906054e-01 -6.91627656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35361786499998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:86.50, Y:-34.28, Z:-6.92 [[ 9.68321549e-01 2.49432378e-01 1.16990218e-02 8.65017059e+01] [-2.49365239e-01 9.68384876e-01 -6.90719849e-03 -3.42776356e+01] [-1.30520348e-02 3.77105976e-03 9.99907707e-01 -6.91804661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:86.53, Y:-34.29, Z:-6.91 [[ 9.68460813e-01 2.48851041e-01 1.25224752e-02 8.65307671e+01] [-2.48913371e-01 9.68518807e-01 3.66797712e-03 -3.42927946e+01] [-1.12154728e-02 -6.66930362e-03 9.99914863e-01 -6.91119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41361786499998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:86.56, Y:-34.30, Z:-6.92 [[ 9.69085034e-01 2.46569356e-01 8.81755134e-03 8.65628009e+01] [-2.46464298e-01 9.69083574e-01 -1.15055140e-02 -3.42965488e+01] [-1.13818513e-02 8.97660981e-03 9.99894931e-01 -6.91976791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44361786499998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:86.59, Y:-34.31, Z:-6.91 [[ 9.69143782e-01 2.46264945e-01 1.06727335e-02 8.65927614e+01] [-2.46317575e-01 9.69181269e-01 3.91409945e-03 -3.43149614e+01] [-9.37990794e-03 -6.42220698e-03 9.99935384e-01 -6.91060957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.62, Y:-34.33, Z:-6.91 [[ 9.69543070e-01 2.44762605e-01 8.80359786e-03 8.66223199e+01] [-2.44772143e-01 9.69580630e-01 6.13716304e-06 -3.43250487e+01] [-8.53429582e-03 -2.16082576e-03 9.99961248e-01 -6.91023916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50361786499998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:86.65, Y:-34.33, Z:-6.91 [[ 9.69805167e-01 2.43715574e-01 8.98095553e-03 8.66530863e+01] [-2.43709890e-01 9.69846620e-01 -1.73870022e-03 -3.43343231e+01] [-9.13389769e-03 -5.02547225e-04 9.99958159e-01 -6.91020591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53361786499998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:86.68, Y:-34.34, Z:-6.91 [[ 9.69667018e-01 2.44260376e-01 9.09631010e-03 8.66845480e+01] [-2.44251129e-01 9.69709670e-01 -2.13103635e-03 -3.43438197e+01] [-9.34130761e-03 -1.55388353e-04 9.99956357e-01 -6.90911026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:-34.35, Z:-6.91 [[ 9.68946506e-01 2.47135426e-01 8.17009659e-03 8.67152625e+01] [-2.47132425e-01 9.68980717e-01 -1.39074753e-03 -3.43529534e+01] [-8.26036904e-03 -6.71535828e-04 9.99965657e-01 -6.90757386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.75, Y:-34.36, Z:-6.91 [[ 9.68662200e-01 2.48256392e-01 7.89344815e-03 8.67466868e+01] [-2.48237352e-01 9.68693543e-01 -3.32224873e-03 -3.43601583e+01] [-8.47110174e-03 1.25868810e-03 9.99963327e-01 -6.90917432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.77, Y:-34.37, Z:-6.91 [[ 9.68159848e-01 2.50204352e-01 8.01819858e-03 8.67748876e+01] [-2.50222254e-01 9.68187555e-01 1.29704458e-03 -3.43703007e+01] [-7.43859388e-03 -3.26207821e-03 9.99967013e-01 -6.90658094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.81, Y:-34.37, Z:-6.91 [[ 9.67717382e-01 2.51987916e-01 5.01584609e-03 8.68093303e+01] [-2.51938856e-01 9.67703455e-01 -8.76556752e-03 -3.43732943e+01] [-7.06266868e-03 7.21890553e-03 9.99949002e-01 -6.91240149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.84, Y:-34.39, Z:-6.91 [[ 9.66760811e-01 2.55599951e-01 6.49613328e-03 8.68375489e+01] [-2.55622120e-01 9.66772618e-01 2.83474926e-03 -3.43863796e+01] [-5.55572201e-03 -4.40107985e-03 9.99974882e-01 -6.90752956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-34.39, Z:-6.91 [[ 9.66662716e-01 2.56022705e-01 3.94567175e-03 8.68716055e+01] [-2.55973470e-01 9.66631621e-01 -1.00444993e-02 -3.43878752e+01] [-6.38563097e-03 8.69965571e-03 9.99941768e-01 -6.91472014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.90, Y:-34.40, Z:-6.91 [[ 9.66523676e-01 2.56497019e-01 6.42358621e-03 8.69014609e+01] [-2.56491952e-01 9.66545018e-01 -1.61459462e-03 -3.43996262e+01] [-6.62282396e-03 -8.70542329e-05 9.99978065e-01 -6.91168659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.93, Y:-34.41, Z:-6.91 [[ 9.66466664e-01 2.56730569e-01 5.62164434e-03 8.69320343e+01] [-2.56729456e-01 9.66482861e-01 -9.30957258e-04 -3.44065677e+01] [-5.67222808e-03 -5.43502538e-04 9.99983765e-01 -6.91140898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.97, Y:-34.42, Z:-6.91 [[ 9.65991951e-01 2.58371573e-01 1.01823460e-02 8.69653059e+01] [-2.58476031e-01 9.65957467e-01 1.07848646e-02 -3.44228932e+01] [-7.04921072e-03 -1.30499848e-02 9.99889997e-01 -6.90966693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-34.42, Z:-6.92 [[ 9.66855545e-01 2.55321731e-01 1.08143577e-03 8.69952041e+01] [-2.55286423e-01 9.66777183e-01 -1.30660221e-02 -3.44160848e+01] [-4.38154680e-03 1.23568800e-02 9.99914051e-01 -6.91548789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.03, Y:-34.43, Z:-6.91 [[ 9.66853350e-01 2.55308345e-01 3.49973991e-03 8.70257231e+01] [-2.55310296e-01 9.66859162e-01 1.15012409e-04 -3.44310178e+01] [-3.35439197e-03 -1.00471977e-03 9.99993869e-01 -6.90841710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.06, Y:-34.44, Z:-6.91 [[ 9.67312561e-01 2.53544750e-01 4.63347110e-03 8.70559741e+01] [-2.53559719e-01 9.67315131e-01 2.98432647e-03 -3.44404372e+01] [-3.72536640e-03 -4.06163811e-03 9.99984812e-01 -6.90813140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.08, Y:-34.45, Z:-6.91 [[ 9.66937258e-01 2.54961400e-01 5.19843189e-03 8.70785106e+01] [-2.55006957e-01 9.66863799e-01 1.20767095e-02 -3.44516582e+01] [-1.94708085e-03 -1.30030566e-02 9.99913561e-01 -6.90959313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-34.45, Z:-6.92 [[ 9.68249404e-01 2.49985179e-01 -7.08655035e-04 8.71194133e+01] [-2.49963120e-01 9.68117676e-01 -1.63280256e-02 -3.44456522e+01] [-3.39570294e-03 1.59867387e-02 9.99866438e-01 -6.91626820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.15, Y:-34.46, Z:-6.91 [[ 9.68440318e-01 2.49245540e-01 1.01959211e-04 8.71496755e+01] [-2.49243090e-01 9.68432458e-01 -4.05654826e-03 -3.44601327e+01] [-1.10981717e-03 3.90311226e-03 9.99991767e-01 -6.91040081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.18, Y:-34.47, Z:-6.91 [[ 9.68729800e-01 2.48115895e-01 1.03783425e-03 8.71802681e+01] [-2.48117058e-01 9.68729311e-01 1.20286443e-03 -3.44708710e+01] [-7.06930668e-04 -1.42275500e-03 9.99998738e-01 -6.90760955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.21, Y:-34.48, Z:-6.91 [[ 9.69066079e-01 2.46800919e-01 4.91628910e-04 8.72122254e+01] [-2.46801404e-01 9.69063739e-01 2.13005416e-03 -3.44798713e+01] [ 4.92795750e-05 -2.18549794e-03 9.99997611e-01 -6.90552155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.24, Y:-34.49, Z:-6.91 [[ 9.69037405e-01 2.46909017e-01 -1.56363869e-03 8.72437563e+01] [-2.46906850e-01 9.69038124e-01 1.45653036e-03 -3.44878582e+01] [ 1.87485599e-03 -1.02535930e-03 9.99997717e-01 -6.90596712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-34.50, Z:-6.90 [[ 9.69025242e-01 2.46947037e-01 -2.69082674e-03 8.72749121e+01] [-2.46929618e-01 9.69017468e-01 5.55968081e-03 -3.44980596e+01] [ 3.98040482e-03 -4.72302623e-03 9.99980925e-01 -6.90151871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.31, Y:-34.50, Z:-6.90 [[ 9.68963103e-01 2.47123871e-01 -6.34802710e-03 8.73075628e+01] [-2.47119144e-01 9.68983893e-01 1.53089969e-03 -3.45043472e+01] [ 6.52945787e-03 8.53337157e-05 9.99978679e-01 -6.90140795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:-34.52, Z:-6.89 [[ 9.68852721e-01 2.47610446e-01 -3.67050543e-03 8.73337821e+01] [-2.47538518e-01 9.68777842e-01 1.39346717e-02 -3.45178898e+01] [ 7.00627461e-03 -1.25920531e-02 9.99896171e-01 -6.89390689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.37, Y:-34.52, Z:-6.90 [[ 9.68847147e-01 2.47492770e-01 -9.08483348e-03 8.73679267e+01] [-2.47475098e-01 9.68889491e-01 3.03815446e-03 -3.45215611e+01] [ 9.55412095e-03 -6.95237224e-04 9.99954117e-01 -6.89692277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.42, Y:-34.52, Z:-6.91 [[ 9.69784729e-01 2.42862002e-01 -2.31436465e-02 8.74219269e+01] [-2.43204823e-01 9.69883353e-01 -1.33302310e-02 -3.45219717e+01] [ 1.92092309e-02 1.85561009e-02 9.99643275e-01 -6.90991044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.45, Y:-34.54, Z:-6.90 [[ 9.69924871e-01 2.42716899e-01 -1.82825532e-02 8.74520324e+01] [-2.42629922e-01 9.70094611e-01 6.86775640e-03 -3.45405573e+01] [ 1.94027269e-02 -2.22531328e-03 9.99809273e-01 -6.90067135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28361786499998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:87.46, Y:-34.55, Z:-6.89 [[ 9.69210583e-01 2.46185627e-01 -4.84602598e-03 8.74583972e+01] [-2.46065216e-01 9.69088416e-01 1.78760211e-02 -3.45529627e+01] [ 9.09704709e-03 -1.61331904e-02 9.99828467e-01 -6.89066505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:87.49, Y:-34.55, Z:-6.90 [[ 9.69284274e-01 2.45694365e-01 -1.10578129e-02 8.74921788e+01] [-2.45703620e-01 9.69344854e-01 5.34725998e-04 -3.45533420e+01] [ 1.08502132e-02 2.19864317e-03 9.99938718e-01 -6.89674345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.52, Y:-34.56, Z:-6.90 [[ 9.69410349e-01 2.45295948e-01 -8.57165890e-03 8.75231062e+01] [-2.45282180e-01 9.69448137e-01 2.63839428e-03 -3.45627045e+01] [ 8.95696618e-03 -4.55211536e-04 9.99959782e-01 -6.89582130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:87.56, Y:-34.57, Z:-6.90 [[ 9.69686737e-01 2.43855749e-01 -1.55565169e-02 8.75558613e+01] [-2.43965422e-01 9.69767976e-01 -5.56282318e-03 -3.45678116e+01] [ 1.37296855e-02 9.18944809e-03 9.99863516e-01 -6.89766559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.58, Y:-34.59, Z:-6.89 [[ 9.69090056e-01 2.46663503e-01 -4.64538313e-03 8.75833991e+01] [-2.46572873e-01 9.69011900e-01 1.47565718e-02 -3.45873019e+01] [ 8.14133922e-03 -1.31550215e-02 9.99880325e-01 -6.89400449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.62, Y:-34.59, Z:-6.89 [[ 9.69166442e-01 2.46350390e-01 -5.28146864e-03 8.76165101e+01] [-2.46308288e-01 9.69162271e-01 7.53126681e-03 -3.45928179e+01] [ 6.97393066e-03 -5.99818155e-03 9.99957692e-01 -6.89481169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.65, Y:-34.59, Z:-6.90 [[ 9.69453123e-01 2.44913199e-01 -1.33479249e-02 8.76466972e+01] [-2.45052448e-01 9.69458001e-01 -1.00240770e-02 -3.45904413e+01] [ 1.04852238e-02 1.29888144e-02 9.99860666e-01 -6.89693651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:87.68, Y:-34.61, Z:-6.89 [[ 9.69161406e-01 2.46180578e-01 -1.10132420e-02 8.76758520e+01] [-2.46119878e-01 9.69217027e-01 6.58486145e-03 -3.46074024e+01] [ 1.22952867e-02 -3.67121580e-03 9.99917671e-01 -6.88805853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:-34.61, Z:-6.89 [[ 9.69209221e-01 2.46024916e-01 -1.02579882e-02 8.77071443e+01] [-2.46008626e-01 9.69263477e-01 2.84037860e-03 -3.46137075e+01] [ 1.06414972e-02 -2.29367541e-04 9.99943351e-01 -6.89080955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:-34.63, Z:-6.89 [[ 9.69097699e-01 2.46415790e-01 -1.13537892e-02 8.77369526e+01] [-2.46324962e-01 9.69147115e-01 8.82510993e-03 -3.46253942e+01] [ 1.31781385e-02 -5.75567204e-03 9.99896599e-01 -6.88569698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:87.77, Y:-34.63, Z:-6.89 [[ 9.69197456e-01 2.45685666e-01 -1.71710371e-02 8.77702427e+01] [-2.45791133e-01 9.69313297e-01 -4.29549010e-03 -3.46275685e+01] [ 1.55887743e-02 8.38366674e-03 9.99843340e-01 -6.89070558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.80, Y:-34.64, Z:-6.88 [[ 9.68955656e-01 2.46920640e-01 -1.24552635e-02 8.77986547e+01] [-2.46823003e-01 9.69019976e-01 8.87079917e-03 -3.46422103e+01] [ 1.42597825e-02 -5.52116550e-03 9.99883081e-01 -6.88446895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.83, Y:-34.65, Z:-6.89 [[ 9.69248053e-01 2.45823217e-01 -1.13647440e-02 8.78305787e+01] [-2.45764981e-01 9.69309062e-01 6.28627125e-03 -3.46503952e+01] [ 1.25612608e-02 -3.29990007e-03 9.99915659e-01 -6.88645700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.86, Y:-34.66, Z:-6.89 [[ 9.69326655e-01 2.45337354e-01 -1.46771290e-02 8.78627608e+01] [-2.45381884e-01 9.69425643e-01 -1.28629009e-03 -3.46550627e+01] [ 1.39128102e-02 4.84833683e-03 9.99891458e-01 -6.88855790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70361786499998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:87.89, Y:-34.67, Z:-6.89 [[ 9.69566010e-01 2.44330060e-01 -1.56388678e-02 8.78923032e+01] [-2.44207094e-01 9.69677827e-01 9.37052307e-03 -3.46686522e+01] [ 1.74541639e-02 -5.26621820e-03 9.99833796e-01 -6.88779680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.92, Y:-34.68, Z:-6.88 [[ 9.69121417e-01 2.46158733e-01 -1.44760797e-02 8.79223241e+01] [-2.46001365e-01 9.69197333e-01 1.18261408e-02 -3.46812222e+01] [ 1.69412856e-02 -7.89983100e-03 9.99825277e-01 -6.87714482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.95, Y:-34.69, Z:-6.88 [[ 9.69068030e-01 2.46156908e-01 -1.77180960e-02 8.79544770e+01] [-2.46116897e-01 9.69229990e-01 4.43844001e-03 -3.46865727e+01] [ 1.82654627e-02 5.95725054e-05 9.99833171e-01 -6.88035331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79361786499997 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:87.97, Y:-34.72, Z:-6.87 [[ 9.68352572e-01 2.49521965e-01 -5.66444825e-03 8.79702137e+01] [-2.48779289e-01 9.66796624e-01 5.84221954e-02 -3.47189970e+01] [ 2.00539904e-02 -5.51640857e-02 9.98275894e-01 -6.86960638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:-34.67, Z:-6.91 [[ 9.68972882e-01 2.42394524e-01 -4.83368207e-02 8.80460318e+01] [-2.45287047e-01 9.67109771e-01 -6.73272307e-02 -3.46672821e+01] [ 3.04272596e-02 7.70946568e-02 9.96559379e-01 -6.91059081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.05, Y:-34.72, Z:-6.87 [[ 9.68242084e-01 2.49502186e-01 -1.59977088e-02 8.80452332e+01] [-2.49049584e-01 9.68144941e-01 2.58781242e-02 -3.47215307e+01] [ 2.19447494e-02 -2.10720662e-02 9.99537091e-01 -6.86893552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:88.06, Y:-34.73, Z:-6.87 [[ 9.66667032e-01 2.55849405e-01 -9.79449411e-03 8.80605107e+01] [-2.55455945e-01 9.66343352e-01 3.03774044e-02 -3.47271065e+01] [ 1.72368851e-02 -2.68627736e-02 9.99490511e-01 -6.86976929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:88.11, Y:-34.72, Z:-6.88 [[ 9.66976158e-01 2.53698718e-01 -2.43735726e-02 8.81071880e+01] [-2.54069962e-01 9.67091187e-01 -1.35311018e-02 -3.47178321e+01] [ 2.01386441e-02 1.92768455e-02 9.99611344e-01 -6.88326444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-34.73, Z:-6.87 [[ 9.66307907e-01 2.56765276e-01 -1.79059492e-02 8.81347004e+01] [-2.56715926e-01 9.66473754e-01 5.04142382e-03 -3.47345714e+01] [ 1.86000925e-02 -2.74825373e-04 9.99826966e-01 -6.87442594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.16, Y:-34.75, Z:-6.87 [[ 9.65895169e-01 2.58317644e-01 -1.78470235e-02 8.81630231e+01] [-2.58103853e-01 9.66023796e-01 1.34322994e-02 -3.47461614e+01] [ 2.07104493e-02 -8.36780753e-03 9.99750497e-01 -6.86836902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.19, Y:-34.76, Z:-6.87 [[ 9.65413510e-01 2.60299600e-01 -1.48618085e-02 8.81932152e+01] [-2.60057889e-01 9.65453665e-01 1.64047145e-02 -3.47557199e+01] [ 1.86185281e-02 -1.19724025e-02 9.99754976e-01 -6.86761243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.23, Y:-34.76, Z:-6.87 [[ 9.65035501e-01 2.61484960e-01 -1.82235644e-02 8.82281872e+01] [-2.61387922e-01 9.65204230e-01 7.55969811e-03 -3.47589102e+01] [ 1.95662088e-02 -2.53195743e-03 9.99805357e-01 -6.87020394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:88.26, Y:-34.76, Z:-6.87 [[ 9.65218628e-01 2.60645058e-01 -2.04243543e-02 8.82599957e+01] [-2.60717494e-01 9.65414698e-01 -9.21045775e-04 -3.47621186e+01] [ 1.94779058e-02 6.21399700e-03 9.99790977e-01 -6.87223148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.28, Y:-34.77, Z:-6.87 [[ 9.64892464e-01 2.61848080e-01 -2.04479044e-02 8.82826618e+01] [-2.61792588e-01 9.65109093e-01 5.39262501e-03 -3.47726448e+01] [ 2.11465070e-02 1.49806584e-04 9.99776376e-01 -6.87023684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-34.78, Z:-6.87 [[ 9.65208599e-01 2.60494332e-01 -2.26950121e-02 8.83167990e+01] [-2.60600967e-01 9.65444878e-01 -1.82311447e-03 -3.47781387e+01] [ 2.14358722e-02 7.67402786e-03 9.99740773e-01 -6.87308575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-34.79, Z:-6.87 [[ 9.65277314e-01 2.60597926e-01 -1.81225826e-02 8.83517561e+01] [-2.60494271e-01 9.65443038e-01 7.90415130e-03 -3.47917755e+01] [ 1.95561266e-02 -2.90886899e-03 9.99804529e-01 -6.86611365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.38, Y:-34.81, Z:-6.86 [[ 9.66699460e-01 2.55782968e-01 -8.19925237e-03 8.83783315e+01] [-2.55342068e-01 9.66183984e-01 3.59017760e-02 -3.48114757e+01] [ 1.71050491e-02 -3.26126134e-02 9.99321687e-01 -6.86084442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.42, Y:-34.79, Z:-6.88 [[ 9.65728626e-01 2.58206535e-01 -2.64122475e-02 8.84191225e+01] [-2.58836557e-01 9.65620647e-01 -2.40915299e-02 -3.47918828e+01] [ 1.92836210e-02 3.01023353e-02 9.99360791e-01 -6.87747845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:-34.81, Z:-6.87 [[ 9.65690128e-01 2.58977436e-01 -1.93200462e-02 8.84404166e+01] [-2.59023945e-01 9.65870895e-01 9.84393830e-05 -3.48102273e+01] [ 1.86861639e-02 4.90929265e-03 9.99813346e-01 -6.87045119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.48, Y:-34.82, Z:-6.86 [[ 9.65589007e-01 2.59486166e-01 -1.74585173e-02 8.84754935e+01] [-2.59359392e-01 9.65736957e-01 9.21059183e-03 -3.48245596e+01] [ 1.92503565e-02 -4.36561580e-03 9.99805164e-01 -6.86240938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.51, Y:-34.84, Z:-6.86 [[ 9.65550199e-01 2.59560045e-01 -1.84769297e-02 8.85062466e+01] [-2.59319201e-01 9.65683450e-01 1.44577227e-02 -3.48364377e+01] [ 2.15955123e-02 -9.16823437e-03 9.99724751e-01 -6.85628515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.54, Y:-34.84, Z:-6.86 [[ 9.65840926e-01 2.58386506e-01 -1.96905941e-02 8.85402750e+01] [-2.58390664e-01 9.66037585e-01 2.37667817e-03 -3.48399496e+01] [ 1.96359555e-02 2.79237264e-03 9.99803297e-01 -6.86092977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.57, Y:-34.85, Z:-6.86 [[ 9.65912678e-01 2.58209061e-01 -1.84601867e-02 8.85712130e+01] [-2.58083450e-01 9.66081342e-01 8.93160503e-03 -3.48520595e+01] [ 2.01402633e-02 -3.86288186e-03 9.99789702e-01 -6.85606913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:-34.86, Z:-6.86 [[ 9.65979559e-01 2.57802985e-01 -2.05210221e-02 8.86039442e+01] [-2.57825886e-01 9.66190124e-01 1.56726909e-03 -3.48573320e+01] [ 2.02312555e-02 3.77690080e-03 9.99788193e-01 -6.85806972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.63, Y:-34.87, Z:-6.85 [[ 9.66076866e-01 2.57553868e-01 -1.90129778e-02 8.86342328e+01] [-2.57419628e-01 9.66255524e-01 9.24104787e-03 -3.48695945e+01] [ 2.07514624e-02 -4.03324889e-03 9.99776530e-01 -6.85332735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.67, Y:-34.88, Z:-6.85 [[ 9.66164244e-01 2.57121824e-01 -2.03720869e-02 8.86650080e+01] [-2.56964681e-01 9.66368711e-01 1.00332989e-02 -3.48784167e+01] [ 2.22667274e-02 -4.45890783e-03 9.99742122e-01 -6.85081809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.70, Y:-34.89, Z:-6.85 [[ 9.66296860e-01 2.56465611e-01 -2.22658647e-02 8.86960003e+01] [-2.56386243e-01 9.66553240e-01 6.39752045e-03 -3.48850452e+01] [ 2.31618877e-02 -4.73242535e-04 9.99731615e-01 -6.85021724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.73, Y:-34.89, Z:-6.85 [[ 9.66587172e-01 2.55519778e-01 -2.04665937e-02 8.87279472e+01] [-2.55435053e-01 9.66803028e-01 6.69623387e-03 -3.48945512e+01] [ 2.14981849e-02 -1.24460832e-03 9.99768113e-01 -6.85173600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.76, Y:-34.90, Z:-6.85 [[ 9.66770088e-01 2.54134503e-01 -2.77714113e-02 8.87608686e+01] [-2.54198881e-01 9.67151165e-01 1.24609578e-03 -3.49003683e+01] [ 2.71758287e-02 5.85477355e-03 9.99613523e-01 -6.85139872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.80, Y:-34.92, Z:-6.85 [[ 9.68381327e-01 2.48610529e-01 -2.07463239e-02 8.87951228e+01] [-2.47951862e-01 9.68310830e-01 2.98999963e-02 -3.49228718e+01] [ 2.75223441e-02 -2.38105085e-02 9.99337571e-01 -6.84548043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.82, Y:-34.91, Z:-6.86 [[ 9.68056376e-01 2.49405760e-01 -2.57608354e-02 8.88227136e+01] [-2.49815171e-01 9.68191164e-01 -1.40801406e-02 -3.49084453e+01] [ 2.14297450e-02 2.00658173e-02 9.99568972e-01 -6.85779029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.85, Y:-34.93, Z:-6.85 [[ 9.68420513e-01 2.48517361e-01 -2.00207801e-02 8.88491615e+01] [-2.48419670e-01 9.68625243e-01 7.26673456e-03 -3.49263528e+01] [ 2.11985427e-02 -2.06369924e-03 9.99773156e-01 -6.84797063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-34.93, Z:-6.85 [[ 9.68673554e-01 2.47523524e-01 -2.00910449e-02 8.88813600e+01] [-2.47513322e-01 9.68879746e-01 3.03216173e-03 -3.49335001e+01] [ 2.02163378e-02 2.03562637e-03 9.99793557e-01 -6.84905958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.91, Y:-34.95, Z:-6.84 [[ 9.68918038e-01 2.46553663e-01 -2.02268713e-02 8.89122466e+01] [-2.46436049e-01 9.69124755e-01 8.15371712e-03 -3.49450621e+01] [ 2.16126905e-02 -2.91565335e-03 9.99762167e-01 -6.84425657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.95, Y:-34.95, Z:-6.85 [[ 9.69174204e-01 2.45576607e-01 -1.98366306e-02 8.89454929e+01] [-2.45668153e-01 9.69351309e-01 -2.28014384e-03 -3.49483002e+01] [ 1.86687138e-02 7.08308498e-03 9.99800635e-01 -6.84998805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:88.98, Y:-34.96, Z:-6.85 [[ 9.68949361e-01 2.45866706e-01 -2.62049302e-02 8.89762654e+01] [-2.45743318e-01 9.69302912e-01 7.87953078e-03 -3.49618762e+01] [ 2.73378295e-02 -1.19517980e-03 9.99625537e-01 -6.84557429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.01, Y:-34.97, Z:-6.84 [[ 9.69238131e-01 2.45500895e-01 -1.75144326e-02 8.90067840e+01] [-2.45240490e-01 9.69334208e-01 1.57573847e-02 -3.49746839e+01] [ 2.08457908e-02 -1.09774101e-02 9.99722436e-01 -6.83938601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:89.04, Y:-34.98, Z:-6.84 [[ 9.68786076e-01 2.46801658e-01 -2.32912256e-02 8.90398174e+01] [-2.46710835e-01 9.69065698e-01 6.74071543e-03 -3.49795622e+01] [ 2.42343475e-02 -7.84113528e-04 9.99705998e-01 -6.83815299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-34.99, Z:-6.84 [[ 9.68790889e-01 2.46736303e-01 -2.37783743e-02 8.90718262e+01] [-2.46641432e-01 9.69082319e-01 6.88930866e-03 -3.49885932e+01] [ 2.47430447e-02 -8.09567169e-04 9.99693516e-01 -6.83686901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:89.10, Y:-34.99, Z:-6.84 [[ 9.69070261e-01 2.45666824e-01 -2.34657252e-02 8.91027964e+01] [-2.45594292e-01 9.69354327e-01 5.96929802e-03 -3.49948155e+01] [ 2.42130607e-02 -2.16210299e-05 9.99706821e-01 -6.83684789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:89.13, Y:-35.00, Z:-6.83 [[ 9.68886939e-01 2.46321588e-01 -2.41614191e-02 8.91344919e+01] [-2.46203747e-01 9.69186845e-01 7.78297066e-03 -3.50046933e+01] [ 2.53340433e-02 -1.59218669e-03 9.99677774e-01 -6.83420380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.17, Y:-35.01, Z:-6.84 [[ 9.68893782e-01 2.46156390e-01 -2.55317718e-02 8.91666927e+01] [-2.46205502e-01 9.69216842e-01 1.25094548e-03 -3.50089151e+01] [ 2.50537514e-02 5.07402939e-03 9.99673228e-01 -6.83773864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.20, Y:-35.02, Z:-6.83 [[ 9.68273580e-01 2.48843969e-01 -2.28681669e-02 8.91958086e+01] [-2.48604432e-01 9.68520178e-01 1.28257999e-02 -3.50212699e+01] [ 2.53399040e-02 -6.73375555e-03 9.99656214e-01 -6.82902428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:89.23, Y:-35.02, Z:-6.83 [[ 9.68044521e-01 2.49221958e-01 -2.78966060e-02 8.92282429e+01] [-2.49284767e-01 9.68429409e-01 1.25896769e-03 -3.50231389e+01] [ 2.73296561e-02 5.73546214e-03 9.99610021e-01 -6.83352501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.26, Y:-35.04, Z:-6.83 [[ 9.68033830e-01 2.49700460e-01 -2.36682005e-02 8.92584268e+01] [-2.49436701e-01 9.68296219e-01 1.35559697e-02 -3.50370818e+01] [ 2.63027609e-02 -7.21891943e-03 9.99627957e-01 -6.82981394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.29, Y:-35.03, Z:-6.84 [[ 9.67985358e-01 2.48939772e-01 -3.21455483e-02 8.92920719e+01] [-2.49477992e-01 9.68280381e-01 -1.39224939e-02 -3.50298039e+01] [ 2.76600413e-02 2.14963771e-02 9.99386226e-01 -6.84173127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.32, Y:-35.06, Z:-6.81 [[ 9.66705246e-01 2.54246718e-01 -2.89753841e-02 8.93162809e+01] [-2.53306262e-01 9.66838513e-01 3.25457741e-02 -3.50607665e+01] [ 3.62891736e-02 -2.41225243e-02 9.99050149e-01 -6.81456001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.35, Y:-35.05, Z:-6.83 [[ 9.67307854e-01 2.52282263e-01 -2.58684316e-02 8.93520238e+01] [-2.52299860e-01 9.67645512e-01 2.63499094e-03 -3.50544636e+01] [ 2.56962333e-02 3.97775425e-03 9.99661883e-01 -6.82901672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.38, Y:-35.07, Z:-6.83 [[ 9.67220555e-01 2.52739630e-01 -2.46389540e-02 8.93824436e+01] [-2.52639429e-01 9.67534084e-01 7.14956330e-03 -3.50657615e+01] [ 2.56460058e-02 -6.90433314e-04 9.99670849e-01 -6.82617789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.41, Y:-35.07, Z:-6.83 [[ 9.67278786e-01 2.52763437e-01 -2.19634770e-02 8.94126505e+01] [-2.52701317e-01 9.67528102e-01 5.60501723e-03 -3.50721719e+01] [ 2.26670247e-02 1.28585302e-04 9.99743062e-01 -6.83008267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-35.07, Z:-6.83 [[ 9.66736944e-01 2.53709673e-01 -3.24204132e-02 8.94475423e+01] [-2.54092314e-01 9.67145074e-01 -8.21600721e-03 -3.50721380e+01] [ 2.92707624e-02 1.61804955e-02 9.99440551e-01 -6.83348261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.48, Y:-35.09, Z:-6.82 [[ 9.66408318e-01 2.55484779e-01 -2.79730312e-02 8.94759465e+01] [-2.55311771e-01 9.66810608e-01 9.65127440e-03 -3.50894679e+01] [ 2.95103770e-02 -2.18522773e-03 9.99562085e-01 -6.82492528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.51, Y:-35.10, Z:-6.83 [[ 9.66305434e-01 2.55623002e-01 -3.01776102e-02 8.95077371e+01] [-2.55462851e-01 9.66775919e-01 9.11342973e-03 -3.50968860e+01] [ 3.15045891e-02 -1.09709832e-03 9.99503005e-01 -6.82699328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:89.54, Y:-35.10, Z:-6.83 [[ 9.66183431e-01 2.56062083e-01 -3.03609430e-02 8.95405956e+01] [-2.55995302e-01 9.66658574e-01 6.13250618e-03 -3.51049330e+01] [ 3.09189681e-02 1.84713288e-03 9.99520188e-01 -6.82512351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.57, Y:-35.12, Z:-6.82 [[ 9.66190788e-01 2.56134129e-01 -2.95070909e-02 8.95692045e+01] [-2.55832001e-01 9.66624743e-01 1.36599191e-02 -3.51163990e+01] [ 3.20210556e-02 -5.64922996e-03 9.99471229e-01 -6.82049114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.60, Y:-35.12, Z:-6.82 [[ 9.66515006e-01 2.55406512e-01 -2.48245406e-02 8.96009658e+01] [-2.55189905e-01 9.66821522e-01 1.15869385e-02 -3.51234449e+01] [ 2.69602796e-02 -4.86397776e-03 9.99624672e-01 -6.82020880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-35.12, Z:-6.83 [[ 9.67078686e-01 2.52631266e-01 -3.05983478e-02 8.96354762e+01] [-2.53026626e-01 9.67410089e-01 -9.75938505e-03 -3.51188550e+01] [ 2.71356246e-02 1.71802900e-02 9.99484115e-01 -6.83198570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.66, Y:-35.14, Z:-6.82 [[ 9.67293529e-01 2.52710951e-01 -2.19181016e-02 8.96632255e+01] [-2.52546126e-01 9.67532836e-01 1.00332225e-02 -3.51366830e+01] [ 2.37419881e-02 -4.16973952e-03 9.99709423e-01 -6.82345708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44361786499998 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:89.70, Y:-35.13, Z:-6.84 [[ 9.66818780e-01 2.53040665e-01 -3.50979845e-02 8.96995268e+01] [-2.53761778e-01 9.67102628e-01 -1.78175756e-02 -3.51332391e+01] [ 2.94347819e-02 2.61328937e-02 9.99225032e-01 -6.83602768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47361786499998 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:89.73, Y:-35.15, Z:-6.82 [[ 9.67227344e-01 2.52384440e-01 -2.78093434e-02 8.97275124e+01] [-2.52150434e-01 9.67617554e-01 1.16802472e-02 -3.51541327e+01] [ 2.98567215e-02 -4.28531653e-03 9.99545003e-01 -6.82335557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.75, Y:-35.17, Z:-6.81 [[ 9.67609643e-01 2.51206151e-01 -2.50409236e-02 8.97537831e+01] [-2.50220005e-01 9.67486647e-01 3.68719130e-02 -3.51710820e+01] [ 3.34892105e-02 -2.94118785e-02 9.99006213e-01 -6.80770313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53361786499998 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:89.79, Y:-35.16, Z:-6.83 [[ 9.67548226e-01 2.49781665e-01 -3.82040608e-02 8.97931008e+01] [-2.50513781e-01 9.67986065e-01 -1.56787774e-02 -3.51552344e+01] [ 3.30647274e-02 2.47406169e-02 9.99146949e-01 -6.83045120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.81, Y:-35.19, Z:-6.79 [[ 9.67929416e-01 2.49171389e-01 -3.20353594e-02 8.98135009e+01] [-2.47568629e-01 9.67734172e-01 4.69078442e-02 -3.51891049e+01] [ 4.26898047e-02 -3.74725323e-02 9.98385391e-01 -6.79498450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.85, Y:-35.19, Z:-6.80 [[ 9.67826452e-01 2.48902945e-01 -3.68684502e-02 8.98468799e+01] [-2.48202918e-01 9.68445444e-01 2.25551388e-02 -3.51853284e+01] [ 4.13191231e-02 -1.26786030e-02 9.99065555e-01 -6.80298337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.88, Y:-35.19, Z:-6.81 [[ 9.67947454e-01 2.47925883e-01 -4.01308269e-02 8.98803584e+01] [-2.47650786e-01 9.68777917e-01 1.17658584e-02 -3.51882184e+01] [ 4.17949198e-02 -1.45030184e-03 9.99125158e-01 -6.80593024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.92, Y:-35.20, Z:-6.81 [[ 9.67794258e-01 2.48715974e-01 -3.89183560e-02 8.99162146e+01] [-2.48624002e-01 9.68572845e-01 7.26282138e-03 -3.51962289e+01] [ 3.95016425e-02 2.64712061e-03 9.99215999e-01 -6.81239693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:-35.20, Z:-6.81 [[ 9.68118356e-01 2.47693069e-01 -3.73496075e-02 8.99478357e+01] [-2.47579800e-01 9.68836898e-01 7.70116467e-03 -3.52037052e+01] [ 3.80932030e-02 1.79136948e-03 9.99272585e-01 -6.81288889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:-35.21, Z:-6.81 [[ 9.67813609e-01 2.49025791e-01 -3.63727186e-02 8.99760674e+01] [-2.48781783e-01 9.68495270e-01 1.11596074e-02 -3.52115992e+01] [ 3.80058360e-02 -1.75155015e-03 9.99275982e-01 -6.81118294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:-35.22, Z:-6.81 [[ 9.68150103e-01 2.47709974e-01 -3.64025654e-02 9.00099011e+01] [-2.47657155e-01 9.68829004e-01 6.02449628e-03 -3.52176980e+01] [ 3.67601890e-02 3.18273908e-03 9.99319047e-01 -6.81265109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-35.23, Z:-6.81 [[ 9.67740021e-01 2.50034851e-01 -3.10133068e-02 9.00340778e+01] [-2.49537909e-01 9.68177893e-01 1.90367965e-02 -3.52311325e+01] [ 3.47862606e-02 -1.06836741e-02 9.99337668e-01 -6.80726030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:-35.24, Z:-6.81 [[ 9.67665624e-01 2.49542962e-01 -3.67634279e-02 9.00719454e+01] [-2.49495037e-01 9.68357740e-01 5.95940427e-03 -3.52350466e+01] [ 3.70872773e-02 3.40558214e-03 9.99306227e-01 -6.80877316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-35.24, Z:-6.81 [[ 9.67832043e-01 2.49260655e-01 -3.42090912e-02 9.01015534e+01] [-2.49238027e-01 9.68429388e-01 4.99268691e-03 -3.52399828e+01] [ 3.43735696e-02 3.69412400e-03 9.99402227e-01 -6.80986461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-35.25, Z:-6.81 [[ 9.67413793e-01 2.50983369e-01 -3.34350441e-02 9.01327105e+01] [-2.50774913e-01 9.67990019e-01 1.03569789e-02 -3.52515489e+01] [ 3.49642184e-02 -1.63481397e-03 9.99387228e-01 -6.80579793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-35.26, Z:-6.81 [[ 9.66978293e-01 2.53189644e-01 -2.91201771e-02 9.01589489e+01] [-2.52909533e-01 9.67402701e-01 1.29915988e-02 -3.52594163e+01] [ 3.14602763e-02 -5.19782366e-03 9.99491488e-01 -6.80532027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-35.27, Z:-6.80 [[ 9.66709482e-01 2.53584416e-01 -3.41719485e-02 9.01940116e+01] [-2.53439660e-01 9.67313189e-01 8.57509077e-03 -3.52670377e+01] [ 3.52294859e-02 3.70905487e-04 9.99379180e-01 -6.80306594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-35.28, Z:-6.80 [[ 9.66107822e-01 2.56032128e-01 -3.29123924e-02 9.02235666e+01] [-2.55746227e-01 9.66660625e-01 1.26926869e-02 -3.52767413e+01] [ 3.50648494e-02 -3.84528387e-03 9.99377641e-01 -6.79960703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-35.28, Z:-6.80 [[ 9.65902498e-01 2.56671867e-01 -3.39398926e-02 9.02556993e+01] [-2.56577039e-01 9.66497004e-01 7.19472095e-03 -3.52824098e+01] [ 3.46494869e-02 1.75879818e-03 9.99397979e-01 -6.80054378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-35.29, Z:-6.80 [[ 9.65624000e-01 2.57908064e-01 -3.24610704e-02 9.02850901e+01] [-2.57676303e-01 9.66166347e-01 1.12032592e-02 -3.52915617e+01] [ 3.42522047e-02 -2.45368738e-03 9.99410209e-01 -6.79788299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-35.30, Z:-6.80 [[ 9.65608949e-01 2.57857295e-01 -3.33012461e-02 9.03168597e+01] [-2.57720081e-01 9.66182909e-01 8.42295756e-03 -3.52984016e+01] [ 3.43470159e-02 4.49116655e-04 9.99409866e-01 -6.79834585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-35.31, Z:-6.80 [[ 9.65647937e-01 2.57826104e-01 -3.24000226e-02 9.03474776e+01] [-2.57569212e-01 9.66186093e-01 1.19387862e-02 -3.53086405e+01] [ 3.43825820e-02 -3.18341600e-03 9.99403674e-01 -6.79598032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.38, Y:-35.32, Z:-6.80 [[ 9.65791573e-01 2.57072663e-01 -3.40629412e-02 9.03787835e+01] [-2.56940660e-01 9.66391776e-01 8.27240600e-03 -3.53152620e+01] [ 3.50447557e-02 7.62734602e-04 9.99385453e-01 -6.79686817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-35.33, Z:-6.79 [[ 9.65542276e-01 2.57836752e-01 -3.53316035e-02 9.04074689e+01] [-2.57219883e-01 9.66122666e-01 2.10932858e-02 -3.53302340e+01] [ 3.95732873e-02 -1.12784683e-02 9.99153017e-01 -6.78558023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-35.33, Z:-6.79 [[ 9.65586651e-01 2.57311129e-01 -3.78602966e-02 9.04410713e+01] [-2.57068112e-01 9.66327965e-01 1.12361114e-02 -3.53349313e+01] [ 3.94766399e-02 -1.11676423e-03 9.99219870e-01 -6.78835975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.47, Y:-35.34, Z:-6.79 [[ 9.66358038e-01 2.54502147e-01 -3.71591143e-02 9.04726412e+01] [-2.54437164e-01 9.67067149e-01 6.54663664e-03 -3.53409574e+01] [ 3.76014918e-02 3.12826474e-03 9.99287917e-01 -6.79378440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-35.35, Z:-6.80 [[ 9.66671113e-01 2.53321518e-01 -3.70832520e-02 9.05048504e+01] [-2.53556278e-01 9.67319156e-01 -1.69273342e-03 -3.53458514e+01] [ 3.54425342e-02 1.10390078e-02 9.99310746e-01 -6.79861658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.53, Y:-35.37, Z:-6.78 [[ 9.66092279e-01 2.56039310e-01 -3.33103485e-02 9.05303151e+01] [-2.55208259e-01 9.66501980e-01 2.72519387e-02 -3.53697346e+01] [ 3.91720853e-02 -1.78268115e-02 9.99073447e-01 -6.77914427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.57, Y:-35.37, Z:-6.79 [[ 9.66847871e-01 2.52732320e-01 -3.64906830e-02 9.05651210e+01] [-2.52805130e-01 9.67513503e-01 2.68095829e-03 -3.53662267e+01] [ 3.59827934e-02 6.63295307e-03 9.99330397e-01 -6.79230940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-35.38, Z:-6.79 [[ 9.66980362e-01 2.52496486e-01 -3.45615903e-02 9.05959977e+01] [-2.52397001e-01 9.67596353e-01 7.28367700e-03 -3.53783149e+01] [ 3.52807716e-02 1.68006909e-03 9.99376028e-01 -6.78961497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-35.39, Z:-6.79 [[ 9.67307555e-01 2.51330729e-01 -3.38963005e-02 9.06269556e+01] [-2.51279518e-01 9.67896995e-01 5.83193876e-03 -3.53867300e+01] [ 3.42738728e-02 2.87616762e-03 9.99408340e-01 -6.78979887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-35.41, Z:-6.77 [[ 9.66929437e-01 2.52999033e-01 -3.22327890e-02 9.06534049e+01] [-2.52262246e-01 9.67329591e-01 2.52432286e-02 -3.54051156e+01] [ 3.75662430e-02 -1.62773051e-02 9.99161562e-01 -6.77450658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:-35.40, Z:-6.79 [[ 9.67312198e-01 2.51052993e-01 -3.57701837e-02 9.06912862e+01] [-2.51410807e-01 9.67863032e-01 -5.81014312e-03 -3.53984323e+01] [ 3.31619846e-02 1.46132331e-02 9.99343152e-01 -6.79196684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-35.42, Z:-6.77 [[ 9.66473891e-01 2.54828921e-01 -3.14712446e-02 9.07156178e+01] [-2.54072680e-01 9.66832217e-01 2.61254184e-02 -3.54225333e+01] [ 3.70849253e-02 -1.72535513e-02 9.99163161e-01 -6.77170850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-35.42, Z:-6.79 [[ 9.66445477e-01 2.54393301e-01 -3.55975793e-02 9.07521467e+01] [-2.54538003e-01 9.67062652e-01 4.82016535e-04 -3.54195113e+01] [ 3.45477112e-02 8.59509402e-03 9.99366089e-01 -6.78536657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-35.43, Z:-6.79 [[ 9.65785135e-01 2.57173837e-01 -3.34767127e-02 9.07821828e+01] [-2.57205325e-01 9.66350668e-01 3.43609721e-03 -3.54280552e+01] [ 3.32339180e-02 5.29185716e-03 9.99433591e-01 -6.78533350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-35.44, Z:-6.78 [[ 9.65185491e-01 2.59562964e-01 -3.23115522e-02 9.08133154e+01] [-2.59393257e-01 9.65725932e-01 9.41078529e-03 -3.54400121e+01] [ 3.36467952e-02 -7.01754658e-04 9.99433540e-01 -6.78209082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-35.44, Z:-6.78 [[ 9.64970158e-01 2.60381427e-01 -3.21575351e-02 9.08435712e+01] [-2.60403655e-01 9.65493243e-01 3.56846735e-03 -3.54444209e+01] [ 3.19770455e-02 4.93047516e-03 9.99476442e-01 -6.78484178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-35.45, Z:-6.79 [[ 9.64350929e-01 2.62787448e-01 -3.11455083e-02 9.08749144e+01] [-2.62950109e-01 9.64808718e-01 -1.17386372e-03 -3.54487929e+01] [ 2.97409813e-02 9.32173136e-03 9.99514172e-01 -6.78800583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-35.46, Z:-6.78 [[ 9.63792344e-01 2.65085656e-01 -2.88775379e-02 9.09057169e+01] [-2.65016878e-01 9.64223496e-01 6.25331032e-03 -3.54614553e+01] [ 2.95020634e-02 1.62614232e-03 9.99563397e-01 -6.78458222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-35.49, Z:-6.76 [[ 9.61575632e-01 2.73137753e-01 -2.77141033e-02 9.09310970e+01] [-2.71782091e-01 9.61325923e-01 4.45753802e-02 -3.54908701e+01] [ 3.88175052e-02 -3.53304024e-02 9.98621532e-01 -6.75551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-35.48, Z:-6.77 [[ 9.61143102e-01 2.73469352e-01 -3.76623297e-02 9.09677307e+01] [-2.73235512e-01 9.61880535e-01 1.13221651e-02 -3.54843136e+01] [ 3.93229270e-02 -5.91534906e-04 9.99226380e-01 -6.76549821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-35.49, Z:-6.76 [[ 9.60896432e-01 2.74375201e-01 -3.73670428e-02 9.09998161e+01] [-2.74145275e-01 9.61622553e-01 1.12442721e-02 -3.54934586e+01] [ 3.90181405e-02 -5.60582713e-04 9.99238345e-01 -6.76425812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-35.50, Z:-6.76 [[ 9.60668419e-01 2.75158859e-01 -3.74672049e-02 9.10302550e+01] [-2.74927850e-01 9.61398622e-01 1.12857173e-02 -3.55024539e+01] [ 3.91262842e-02 -5.41054131e-04 9.99234127e-01 -6.76337643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-35.51, Z:-6.76 [[ 9.60743740e-01 2.74887410e-01 -3.75283556e-02 9.10607211e+01] [-2.74655168e-01 9.61476260e-01 1.13110568e-02 -3.55108545e+01] [ 3.91918901e-02 -5.59670200e-04 9.99231546e-01 -6.76265460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-35.52, Z:-6.76 [[ 9.60876540e-01 2.74412384e-01 -3.76047745e-02 9.10922363e+01] [-2.74178425e-01 9.61611925e-01 1.13444252e-02 -3.55203573e+01] [ 3.92742504e-02 -5.90174125e-04 9.99228295e-01 -6.76166286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.12, Y:-35.53, Z:-6.76 [[ 9.61191980e-01 2.73299908e-01 -3.76448884e-02 9.11231948e+01] [-2.73064152e-01 9.61928657e-01 1.13678151e-02 -3.55296529e+01] [ 3.93185198e-02 -6.47183108e-04 9.99226518e-01 -6.76053435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:-35.54, Z:-6.76 [[ 9.61530430e-01 2.72084244e-01 -3.78073604e-02 9.11548171e+01] [-2.71845091e-01 9.62273173e-01 1.14274407e-02 -3.55393516e+01] [ 3.94902352e-02 -7.10086683e-04 9.99219704e-01 -6.75928459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-35.55, Z:-6.76 [[ 9.62281238e-01 2.69361831e-01 -3.81971615e-02 9.11850664e+01] [-2.69115105e-01 9.63038678e-01 1.15570240e-02 -3.55491707e+01] [ 3.98983650e-02 -8.41674236e-04 9.99203389e-01 -6.75766149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:-35.56, Z:-6.76 [[ 9.62580486e-01 2.68292667e-01 -3.81818507e-02 9.12164316e+01] [-2.68044866e-01 9.63337034e-01 1.15632141e-02 -3.55589606e+01] [ 3.98843164e-02 -8.96075228e-04 9.99203902e-01 -6.75630279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:-35.57, Z:-6.76 [[ 9.63066673e-01 2.66534306e-01 -3.82367320e-02 9.12471322e+01] [-2.66283945e-01 9.63824932e-01 1.15913846e-02 -3.55685385e+01] [ 3.99430173e-02 -9.81448297e-04 9.99201477e-01 -6.75536008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-35.58, Z:-6.76 [[ 9.62951804e-01 2.67021495e-01 -3.77272359e-02 9.12804637e+01] [-2.66721320e-01 9.63687754e-01 1.28705021e-02 -3.55808367e+01] [ 3.97939759e-02 -2.33101506e-03 9.99205187e-01 -6.75525797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-35.58, Z:-6.76 [[ 9.62880982e-01 2.65887183e-01 -4.65211882e-02 9.13111749e+01] [-2.66298867e-01 9.63886518e-01 -2.77386613e-03 -3.55797221e+01] [ 4.41036106e-02 1.50594426e-02 9.98913452e-01 -6.75889615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-35.60, Z:-6.75 [[ 9.63295335e-01 2.66254549e-01 -3.42142084e-02 9.13380467e+01] [-2.65429767e-01 9.63757204e-01 2.68158644e-02 -3.56044546e+01] [ 4.01140357e-02 -1.67501278e-02 9.99054702e-01 -6.74693968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-35.61, Z:-6.75 [[ 9.63244152e-01 2.65812429e-01 -3.87873189e-02 9.13724196e+01] [-2.65552582e-01 9.64024179e-01 1.17986469e-02 -3.56070605e+01] [ 4.05281403e-02 -1.06490494e-03 9.99177830e-01 -6.75069826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-35.62, Z:-6.75 [[ 9.63165837e-01 2.66048742e-01 -3.91105859e-02 9.14029701e+01] [-2.65784518e-01 9.63958985e-01 1.19023580e-02 -3.56165890e+01] [ 4.08676080e-02 -1.06895636e-03 9.99163999e-01 -6.74922416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-35.63, Z:-6.75 [[ 9.63095781e-01 2.66290927e-01 -3.91874832e-02 9.14341339e+01] [-2.66025412e-01 9.63892107e-01 1.19367477e-02 -3.56260930e+01] [ 4.09511534e-02 -1.07136503e-03 9.99160575e-01 -6.74780545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-35.64, Z:-6.75 [[ 9.62846274e-01 2.67199030e-01 -3.91373313e-02 9.14643954e+01] [-2.66934467e-01 9.63640800e-01 1.19330913e-02 -3.56356686e+01] [ 4.09028397e-02 -1.04262982e-03 9.99162585e-01 -6.74683350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-35.64, Z:-6.76 [[ 9.63046396e-01 2.66400900e-01 -3.96509654e-02 9.14988844e+01] [-2.66700700e-01 9.63776473e-01 -2.37643718e-03 -3.56391936e+01] [ 3.75815825e-02 1.28635595e-02 9.99210765e-01 -6.75661654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:-35.66, Z:-6.74 [[ 9.62571400e-01 2.68734398e-01 -3.51869863e-02 9.15235999e+01] [-2.67948512e-01 9.63095644e-01 2.55024548e-02 -3.56613547e+01] [ 4.07418201e-02 -1.51196330e-02 9.99055304e-01 -6.73895721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499998 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:91.56, Y:-35.67, Z:-6.74 [[ 9.61529800e-01 2.72044205e-01 -3.81102826e-02 9.15562672e+01] [-2.71795936e-01 9.62284385e-01 1.16503749e-02 -3.56655764e+01] [ 3.98423469e-02 -8.43962754e-04 9.99205622e-01 -6.74325276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:-35.67, Z:-6.74 [[ 9.62000182e-01 2.70140567e-01 -3.97457400e-02 9.15874763e+01] [-2.69868259e-01 9.62820398e-01 1.21656927e-02 -3.56741951e+01] [ 4.15544563e-02 -9.77284932e-04 9.99135763e-01 -6.74121841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-35.68, Z:-6.74 [[ 9.61719012e-01 2.71111520e-01 -3.99385244e-02 9.16186044e+01] [-2.70836785e-01 9.62547471e-01 1.22393694e-02 -3.56841160e+01] [ 4.17609597e-02 -9.54012685e-04 9.99127175e-01 -6.74001315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-35.69, Z:-6.74 [[ 9.61473285e-01 2.71995223e-01 -3.98462114e-02 9.16487229e+01] [-2.71722018e-01 9.62298157e-01 1.22230163e-02 -3.56936029e+01] [ 4.16685379e-02 -9.25010715e-04 9.99131061e-01 -6.73854907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-35.70, Z:-6.74 [[ 9.61117942e-01 2.73263325e-01 -3.97423676e-02 9.16797403e+01] [-2.72992161e-01 9.61938867e-01 1.22023156e-02 -3.57035175e+01] [ 4.15641734e-02 -8.78509652e-04 9.99135450e-01 -6.73674420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-35.71, Z:-6.74 [[ 9.60969201e-01 2.73716303e-01 -4.02191545e-02 9.17112729e+01] [-2.73438475e-01 9.61810069e-01 1.23608707e-02 -3.57135648e+01] [ 4.20665596e-02 -8.80951723e-04 9.99114422e-01 -6.73509894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-35.72, Z:-6.73 [[ 9.60836470e-01 2.74139066e-01 -4.05098853e-02 9.17424421e+01] [-2.73857064e-01 9.61689658e-01 1.24623814e-02 -3.57238996e+01] [ 4.23743633e-02 -8.80392341e-04 9.99101415e-01 -6.73356541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.78, Y:-35.73, Z:-6.74 [[ 9.61357606e-01 2.72183789e-01 -4.13223647e-02 9.17769083e+01] [-2.72511406e-01 9.62149545e-01 -2.40559927e-03 -3.57270288e+01] [ 3.91035292e-02 1.35734569e-02 9.99142970e-01 -6.74422434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:-35.75, Z:-6.73 [[ 9.61382015e-01 2.72717845e-01 -3.70080899e-02 9.18006882e+01] [-2.71849898e-01 9.61965176e-01 2.68446036e-02 -3.57517097e+01] [ 4.29214962e-02 -1.57472736e-02 9.98954338e-01 -6.72579514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-35.75, Z:-6.74 [[ 9.62101978e-01 2.69366568e-01 -4.24433346e-02 9.18379459e+01] [-2.69788179e-01 9.62909495e-01 -4.43213468e-03 -3.57483398e+01] [ 3.96752210e-02 1.57148755e-02 9.99089045e-01 -6.74277945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:-35.77, Z:-6.72 [[ 9.62211265e-01 2.69834843e-01 -3.65874060e-02 9.18600203e+01] [-2.68874188e-01 9.62734838e-01 2.91256270e-02 -3.57735192e+01] [ 4.30830794e-02 -1.81875974e-02 9.98905931e-01 -6.72166519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:-35.78, Z:-6.73 [[ 9.63165216e-01 2.65789049e-01 -4.08527656e-02 9.18937678e+01] [-2.65492702e-01 9.64030331e-01 1.26152836e-02 -3.57770925e+01] [ 4.27363094e-02 -1.30449126e-03 9.99085535e-01 -6.72572668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:-35.79, Z:-6.72 [[ 9.63556289e-01 2.64429938e-01 -4.04485543e-02 9.19251665e+01] [-2.64137719e-01 9.64403935e-01 1.25026018e-02 -3.57880765e+01] [ 4.23148072e-02 -1.36297173e-03 9.99103398e-01 -6.72427721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:-35.80, Z:-6.72 [[ 9.64363431e-01 2.61554652e-01 -3.99040960e-02 9.19563164e+01] [-2.61267293e-01 9.65187532e-01 1.23462380e-02 -3.57995165e+01] [ 4.17441519e-02 -1.48062526e-03 9.99127236e-01 -6.72293150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499998 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:92.00, Y:-35.80, Z:-6.74 [[ 9.64967768e-01 2.58306642e-01 -4.59878811e-02 9.19964925e+01] [-2.59527574e-01 9.65466041e-01 -2.28201978e-02 -3.57950259e+01] [ 3.85051289e-02 3.39558786e-02 9.98681307e-01 -6.74271047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:-35.84, Z:-6.71 [[ 9.65052841e-01 2.60510837e-01 -2.84098328e-02 9.20112505e+01] [-2.59062343e-01 9.64745931e-01 4.63895653e-02 -3.58360364e+01] [ 3.94932551e-02 -3.74084639e-02 9.98519349e-01 -6.70845542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-35.83, Z:-6.72 [[ 9.65356138e-01 2.57987622e-01 -3.91141087e-02 9.20473938e+01] [-2.57707381e-01 9.66146844e-01 1.21318066e-02 -3.58305012e+01] [ 4.09198287e-02 -1.63151946e-03 9.99161101e-01 -6.71985199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:-35.84, Z:-6.72 [[ 9.65425650e-01 2.57669969e-01 -3.94905099e-02 9.20780956e+01] [-2.57383580e-01 9.66231542e-01 1.22596851e-02 -3.58404812e+01] [ 4.13159290e-02 -1.67160568e-03 9.99144734e-01 -6.71857263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78361786499998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:92.11, Y:-35.85, Z:-6.72 [[ 9.64877766e-01 2.59009061e-01 -4.38771290e-02 9.21078407e+01] [-2.58966521e-01 9.65862714e-01 6.74968945e-03 -3.58475434e+01] [ 4.41275136e-02 4.85008216e-03 9.99014134e-01 -6.71900027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-35.86, Z:-6.73 [[ 9.65235399e-01 2.58389423e-01 -3.94402134e-02 9.21431916e+01] [-2.58453658e-01 9.66017136e-01 3.54944889e-03 -3.58570569e+01] [ 3.90170621e-02 6.76741372e-03 9.99215628e-01 -6.72606346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-35.85, Z:-6.74 [[ 9.65976335e-01 2.55658689e-01 -3.90941788e-02 9.21764324e+01] [-2.56514795e-01 9.66360529e-01 -1.86410309e-02 -3.58524041e+01] [ 3.30133298e-02 2.80350299e-02 9.99061638e-01 -6.74044614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:-35.89, Z:-6.72 [[ 9.64996855e-01 2.60598521e-01 -2.94869505e-02 9.21994333e+01] [-2.59878783e-01 9.65287772e-01 2.61253850e-02 -3.58850704e+01] [ 3.52716294e-02 -1.75478816e-02 9.99223691e-01 -6.71903962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:-35.90, Z:-6.69 [[ 9.63191988e-01 2.66536015e-01 -3.49248784e-02 9.22253149e+01] [-2.64955687e-01 9.63253688e-01 4.40546970e-02 -3.59038183e+01] [ 4.53836813e-02 -3.31795860e-02 9.98418468e-01 -6.69451980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:-35.90, Z:-6.70 [[ 9.62086496e-01 2.69261037e-01 -4.34518993e-02 9.22612500e+01] [-2.68920955e-01 9.63066215e-01 1.36009654e-02 -3.58979901e+01] [ 4.55092662e-02 -1.40017886e-03 9.98962935e-01 -6.70440215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:-35.91, Z:-6.70 [[ 9.61536372e-01 2.71256670e-01 -4.32160241e-02 9.22918397e+01] [-2.70921740e-01 9.62506157e-01 1.35391451e-02 -3.59074193e+01] [ 4.52682727e-02 -1.31022004e-03 9.98974007e-01 -6.70279008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:-35.92, Z:-6.70 [[ 9.60909299e-01 2.73493777e-01 -4.30635852e-02 9.23233949e+01] [-2.73162928e-01 9.61873009e-01 1.35029290e-02 -3.59172817e+01] [ 4.51146673e-02 -1.21171505e-03 9.98981080e-01 -6.70137915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-35.93, Z:-6.70 [[ 9.59647263e-01 2.77980189e-01 -4.24752348e-02 9.23538894e+01] [-2.77662144e-01 9.60586287e-01 1.33310884e-02 -3.59266324e+01] [ 4.45069066e-02 -9.99377745e-04 9.99008577e-01 -6.70038157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-35.91, Z:-6.73 [[ 9.60064296e-01 2.75863833e-01 -4.66443236e-02 9.23875069e+01] [-2.77361054e-01 9.60318469e-01 -2.93135536e-02 -3.59101399e+01] [ 3.67068562e-02 4.10802149e-02 9.98481358e-01 -6.73150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-35.94, Z:-6.71 [[ 9.59046929e-01 2.80694380e-01 -3.79427753e-02 9.24149628e+01] [-2.80427704e-01 9.59796520e-01 1.22858888e-02 -3.59428683e+01] [ 3.98659236e-02 -1.14253857e-03 9.99204385e-01 -6.71269008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.44, Y:-35.97, Z:-6.68 [[ 9.56600804e-01 2.89560950e-01 -3.27010487e-02 9.24398057e+01] [-2.87740749e-01 9.56348704e-01 5.10138927e-02 -3.59735210e+01] [ 4.60452368e-02 -3.93905065e-02 9.98162424e-01 -6.68280111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-35.95, Z:-6.72 [[ 9.57214586e-01 2.85777012e-01 -4.55163236e-02 9.24833924e+01] [-2.86815471e-01 9.57815482e-01 -1.80661863e-02 -3.59487488e+01] [ 3.84333388e-02 3.03480029e-02 9.98800219e-01 -6.71848653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:-35.99, Z:-6.68 [[ 9.55553759e-01 2.92807141e-01 -3.43655649e-02 9.25019208e+01] [-2.91271597e-01 9.55650088e-01 4.35174222e-02 -3.59897801e+01] [ 4.55836671e-02 -3.15735234e-02 9.98461437e-01 -6.68140854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.54, Y:-35.97, Z:-6.72 [[ 9.56345099e-01 2.88816688e-01 -4.45978986e-02 9.25436744e+01] [-2.89819607e-01 9.56915524e-01 -1.78122485e-02 -3.59686143e+01] [ 3.75319468e-02 2.99600020e-02 9.98846210e-01 -6.71587452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.57, Y:-35.99, Z:-6.71 [[ 9.56222115e-01 2.90389307e-01 -3.62397307e-02 9.25689163e+01] [-2.90279679e-01 9.56905275e-01 8.36679795e-03 -3.59914532e+01] [ 3.71076181e-02 2.51914018e-03 9.99308100e-01 -6.70623528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.60, Y:-36.00, Z:-6.70 [[ 9.56227370e-01 2.90370804e-01 -3.62493346e-02 9.25997828e+01] [-2.90201034e-01 9.56913703e-01 9.97617902e-03 -3.60024229e+01] [ 3.75842761e-02 9.80098951e-04 9.99292981e-01 -6.70476982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-36.01, Z:-6.70 [[ 9.56596289e-01 2.89187238e-01 -3.59761184e-02 9.26306357e+01] [-2.89016310e-01 9.57272173e-01 9.97791378e-03 -3.60132394e+01] [ 3.73244224e-02 8.52849699e-04 9.99302837e-01 -6.70430017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-36.02, Z:-6.70 [[ 9.56504605e-01 2.89097908e-01 -3.90043659e-02 9.26633801e+01] [-2.88950756e-01 9.57297005e-01 9.48184595e-03 -3.60244825e+01] [ 4.00799445e-02 2.20091171e-03 9.99194052e-01 -6.70148896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:-36.04, Z:-6.70 [[ 9.56838103e-01 2.88234601e-01 -3.71706892e-02 9.26898670e+01] [-2.87890104e-01 9.57554799e-01 1.44254688e-02 -3.60358192e+01] [ 3.97508911e-02 -3.10176461e-03 9.99204807e-01 -6.69843882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:-36.04, Z:-6.70 [[ 9.57280089e-01 2.86444012e-01 -3.95557766e-02 9.27241093e+01] [-2.86398481e-01 9.58085500e-01 6.93429541e-03 -3.60427152e+01] [ 3.98841034e-02 4.69065140e-03 9.99193303e-01 -6.69993994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:-36.06, Z:-6.69 [[ 9.57656508e-01 2.86351175e-01 -2.99502557e-02 9.27460074e+01] [-2.85576802e-01 9.57957273e-01 2.76360716e-02 -3.60630262e+01] [ 3.66046869e-02 -1.79127656e-02 9.99169270e-01 -6.69054671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:-36.06, Z:-6.70 [[ 9.58267569e-01 2.82706898e-01 -4.24272915e-02 9.27838850e+01] [-2.82988987e-01 9.59122923e-01 -6.71787744e-04 -3.60602763e+01] [ 4.05030688e-02 1.26502086e-02 9.99099331e-01 -6.69953269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:-36.07, Z:-6.70 [[ 9.58479376e-01 2.81095266e-01 -4.79868539e-02 9.28178068e+01] [-2.81617802e-01 9.59516754e-01 -4.36033200e-03 -3.60690991e+01] [ 4.48185216e-02 1.76932406e-02 9.98838450e-01 -6.69973278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-36.10, Z:-6.68 [[ 9.58267581e-01 2.83121538e-01 -3.95656252e-02 9.28390073e+01] [-2.81955299e-01 9.58874024e-01 3.25855003e-02 -3.61001414e+01] [ 4.71641072e-02 -2.00698908e-02 9.98685509e-01 -6.67985466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:92.87, Y:-36.10, Z:-6.69 [[ 9.58243185e-01 2.81849415e-01 -4.82794484e-02 9.28717391e+01] [-2.81383323e-01 9.59456428e-01 1.63336916e-02 -3.61023072e+01] [ 5.09256685e-02 -2.06661701e-03 9.98700308e-01 -6.68584806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.90, Y:-36.12, Z:-6.68 [[ 9.58753487e-01 2.80297509e-01 -4.71705152e-02 9.29028860e+01] [-2.79507604e-01 9.59874688e-01 2.27174569e-02 -3.61177961e+01] [ 5.16454301e-02 -8.59592334e-03 9.98628489e-01 -6.67617876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.93, Y:-36.13, Z:-6.68 [[ 9.59065408e-01 2.78986613e-01 -4.85799707e-02 9.29344682e+01] [-2.78455468e-01 9.60289421e-01 1.75151595e-02 -3.61259008e+01] [ 5.15373269e-02 -3.27082509e-03 9.98665713e-01 -6.67636774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.97, Y:-36.14, Z:-6.68 [[ 9.59033926e-01 2.78723063e-01 -5.06693550e-02 9.29658498e+01] [-2.78336604e-01 9.60371518e-01 1.46724781e-02 -3.61355504e+01] [ 5.27509634e-02 3.17319264e-05 9.98607698e-01 -6.67524274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.00, Y:-36.15, Z:-6.67 [[ 9.59032212e-01 2.78767712e-01 -5.04557078e-02 9.29950547e+01] [-2.78228462e-01 9.60354484e-01 1.75552871e-02 -3.61485619e+01] [ 5.33492125e-02 -2.79787187e-03 9.98571997e-01 -6.67127727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-36.16, Z:-6.67 [[ 9.58775999e-01 2.79582338e-01 -5.08163429e-02 9.30241210e+01] [-2.79075556e-01 9.60119482e-01 1.69533078e-02 -3.61585689e+01] [ 5.35296062e-02 -2.07282548e-03 9.98564111e-01 -6.66949733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.05, Y:-36.17, Z:-6.67 [[ 9.58612415e-01 2.80200544e-01 -5.04964688e-02 9.30547892e+01] [-2.79663816e-01 9.59937702e-01 1.75430115e-02 -3.61692256e+01] [ 5.33890257e-02 -2.69491342e-03 9.98570152e-01 -6.66720358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-36.18, Z:-6.67 [[ 9.58544080e-01 2.80918510e-01 -4.77287906e-02 9.30828444e+01] [-2.80495892e-01 9.59730541e-01 1.54706877e-02 -3.61765697e+01] [ 5.01527806e-02 -1.44160634e-03 9.98740517e-01 -6.66817617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.12, Y:-36.18, Z:-6.67 [[ 9.58175641e-01 2.81638304e-01 -5.07868722e-02 9.31170760e+01] [-2.81705979e-01 9.59482212e-01 5.96879894e-03 -3.61828698e+01] [ 5.04101429e-02 8.58780777e-03 9.98691678e-01 -6.67126982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.15, Y:-36.20, Z:-6.67 [[ 9.57666015e-01 2.83757143e-01 -4.85560301e-02 9.31455713e+01] [-2.83439842e-01 9.58895770e-01 1.34446637e-02 -3.61959318e+01] [ 5.03751913e-02 8.87215992e-04 9.98729970e-01 -6.66738818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.18, Y:-36.21, Z:-6.67 [[ 9.57225761e-01 2.85152973e-01 -4.90573602e-02 9.31770802e+01] [-2.84936251e-01 9.58477430e-01 1.15042667e-02 -3.62053629e+01] [ 5.03008484e-02 2.96603989e-03 9.98729707e-01 -6.66677705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.21, Y:-36.22, Z:-6.66 [[ 9.55781687e-01 2.89723170e-01 -5.04167875e-02 9.32064855e+01] [-2.89162922e-01 9.57106251e-01 1.82326542e-02 -3.62214707e+01] [ 5.35366448e-02 -2.84777139e-03 9.98561825e-01 -6.65959902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.24, Y:-36.22, Z:-6.66 [[ 9.55493314e-01 2.89770675e-01 -5.53668008e-02 9.32386780e+01] [-2.89917538e-01 9.57035610e-01 5.53734506e-03 -3.62243948e+01] [ 5.45925602e-02 1.07609104e-02 9.98450727e-01 -6.66416605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-36.24, Z:-6.65 [[ 9.54691368e-01 2.93554794e-01 -4.88873718e-02 9.32656171e+01] [-2.92658566e-01 9.55896889e-01 2.47406835e-02 -3.62449810e+01] [ 5.39940329e-02 -9.31240885e-03 9.98497833e-01 -6.65319385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:-36.25, Z:-6.65 [[ 9.54631155e-01 2.93197321e-01 -5.21026837e-02 9.32983326e+01] [-2.92713415e-01 9.56051578e-01 1.68593102e-02 -3.62511306e+01] [ 5.47559576e-02 -8.43268293e-04 9.98499411e-01 -6.65373017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.33, Y:-36.26, Z:-6.65 [[ 9.54438745e-01 2.93614300e-01 -5.32665545e-02 9.33291671e+01] [-2.93188182e-01 9.55923834e-01 1.58213145e-02 -3.62604708e+01] [ 5.55641332e-02 5.16648744e-04 9.98454987e-01 -6.65213497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:-36.27, Z:-6.65 [[ 9.54143808e-01 2.93771936e-01 -5.75121222e-02 9.33626437e+01] [-2.93775310e-01 9.55835930e-01 8.58738963e-03 -3.62674871e+01] [ 5.74948868e-02 8.70203686e-03 9.98307875e-01 -6.65439592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:-36.29, Z:-6.64 [[ 9.53396791e-01 2.97160493e-01 -5.22513099e-02 9.33880123e+01] [-2.96108831e-01 9.54772202e-01 2.70111658e-02 -3.62875722e+01] [ 5.79147496e-02 -1.02802845e-02 9.98268600e-01 -6.64257955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:-36.29, Z:-6.64 [[ 9.53482484e-01 2.95818816e-01 -5.79860371e-02 9.34221890e+01] [-2.95361911e-01 9.55243042e-01 1.64946135e-02 -3.62937321e+01] [ 6.02701755e-02 1.39954169e-03 9.98181119e-01 -6.64324022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:-36.30, Z:-6.64 [[ 9.54009025e-01 2.94660700e-01 -5.51529842e-02 9.34486581e+01] [-2.94079546e-01 9.55600790e-01 1.85566860e-02 -3.63045938e+01] [ 5.81721614e-02 -1.48388131e-03 9.98305463e-01 -6.64318631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-36.31, Z:-6.65 [[ 9.54324524e-01 2.92397665e-01 -6.13865558e-02 9.34824403e+01] [-2.92604137e-01 9.56216073e-01 5.80002010e-03 -3.63079003e+01] [ 6.03947236e-02 1.24268588e-02 9.98097215e-01 -6.64773857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.51, Y:-36.33, Z:-6.64 [[ 9.54691845e-01 2.92640810e-01 -5.40817645e-02 9.35103195e+01] [-2.91591457e-01 9.56174509e-01 2.65467774e-02 -3.63309404e+01] [ 5.94802751e-02 -9.57421136e-03 9.98183566e-01 -6.63674837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.54, Y:-36.34, Z:-6.63 [[ 9.54402928e-01 2.93139378e-01 -5.64300993e-02 9.35404810e+01] [-2.91892648e-01 9.55999712e-01 2.93808218e-02 -3.63445240e+01] [ 6.25598345e-02 -1.15696112e-02 9.97974154e-01 -6.62966828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:93.57, Y:-36.35, Z:-6.63 [[ 9.54673669e-01 2.91227574e-01 -6.15197985e-02 9.35727668e+01] [-2.90544675e-01 9.56653066e-01 1.99675708e-02 -3.63507678e+01] [ 6.46682110e-02 -1.18826425e-03 9.97906113e-01 -6.63323912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-36.37, Z:-6.63 [[ 9.54771385e-01 2.91325350e-01 -5.95074975e-02 9.35991348e+01] [-2.90325681e-01 9.56601329e-01 2.49979234e-02 -3.63652717e+01] [ 6.42074799e-02 -6.59074719e-03 9.97914807e-01 -6.62514279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.63, Y:-36.38, Z:-6.62 [[ 9.54554367e-01 2.91344534e-01 -6.28038498e-02 9.36317269e+01] [-2.90356476e-01 9.56604185e-01 2.45265019e-02 -3.63775689e+01] [ 6.72240879e-02 -5.17637497e-03 9.97724475e-01 -6.62041049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.66, Y:-36.39, Z:-6.62 [[ 9.54398902e-01 2.91439113e-01 -6.46991472e-02 9.36607958e+01] [-2.90255570e-01 9.56562400e-01 2.72043820e-02 -3.63898056e+01] [ 6.98171925e-02 -7.18454449e-03 9.97533930e-01 -6.61549702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.69, Y:-36.40, Z:-6.62 [[ 9.54179227e-01 2.90386942e-01 -7.22317626e-02 9.36919413e+01] [-2.89998218e-01 9.56892696e-01 1.60437426e-02 -3.63955967e+01] [ 7.37769394e-02 5.63847658e-03 9.97258828e-01 -6.61840712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-36.41, Z:-6.61 [[ 9.53936015e-01 2.91638910e-01 -7.03763105e-02 9.37203741e+01] [-2.90563524e-01 9.56521420e-01 2.52905231e-02 -3.64105463e+01] [ 7.46921491e-02 -3.67675199e-03 9.97199862e-01 -6.61271119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.75, Y:-36.42, Z:-6.61 [[ 9.53839713e-01 2.92043473e-01 -7.00029383e-02 9.37500104e+01] [-2.90762120e-01 9.56383486e-01 2.80716431e-02 -3.64232509e+01] [ 7.51477943e-02 -6.42164530e-03 9.97151729e-01 -6.60823891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.78, Y:-36.43, Z:-6.61 [[ 9.54805888e-01 2.88987058e-01 -6.95139974e-02 9.37829587e+01] [-2.88284164e-01 9.57332676e-01 2.01590547e-02 -3.64286495e+01] [ 7.23737271e-02 7.91800508e-04 9.97377269e-01 -6.61394456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.81, Y:-36.44, Z:-6.61 [[ 9.54372824e-01 2.90411812e-01 -6.95233265e-02 9.38126663e+01] [-2.89403503e-01 9.56896573e-01 2.43836127e-02 -3.64440678e+01] [ 7.36079221e-02 -3.15076307e-03 9.97282280e-01 -6.60896460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.84, Y:-36.46, Z:-6.60 [[ 9.53947635e-01 2.91896847e-01 -6.91385571e-02 9.38428338e+01] [-2.90649103e-01 9.56428916e-01 2.76916390e-02 -3.64579895e+01] [ 7.42092173e-02 -6.32131392e-03 9.97222660e-01 -6.60101285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.87, Y:-36.46, Z:-6.60 [[ 9.53358872e-01 2.92375694e-01 -7.49887713e-02 9.38724029e+01] [-2.91852522e-01 9.56292275e-01 1.80883950e-02 -3.64646425e+01] [ 7.69997898e-02 4.64093021e-03 9.97020308e-01 -6.60245935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:-36.48, Z:-6.60 [[ 9.52966813e-01 2.94192378e-01 -7.28360981e-02 9.39010838e+01] [-2.92967623e-01 9.55735212e-01 2.72061952e-02 -3.64804112e+01] [ 7.76158789e-02 -4.58798259e-03 9.96972781e-01 -6.59506755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.93, Y:-36.50, Z:-6.59 [[ 9.52421226e-01 2.96595003e-01 -7.01798626e-02 9.39279757e+01] [-2.94725110e-01 9.54908000e-01 3.58862270e-02 -3.64956778e+01] [ 7.76589879e-02 -1.34950365e-02 9.96888643e-01 -6.58602223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:-36.50, Z:-6.59 [[ 9.52691811e-01 2.95581518e-01 -7.07805008e-02 9.39629954e+01] [-2.94294324e-01 9.55298391e-01 2.82105376e-02 -3.65049831e+01] [ 7.59550121e-02 -6.04564851e-03 9.97092918e-01 -6.58534060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:-36.51, Z:-6.59 [[ 9.52142987e-01 2.96099549e-01 -7.58207662e-02 9.39919634e+01] [-2.95595926e-01 9.55142731e-01 1.80391733e-02 -3.65095917e+01] [ 7.77610448e-02 5.23643730e-03 9.96958274e-01 -6.58733125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.02, Y:-36.52, Z:-6.58 [[ 9.52059540e-01 2.97164517e-01 -7.26352650e-02 9.40202480e+01] [-2.96036352e-01 9.54820487e-01 2.60828662e-02 -3.65240195e+01] [ 7.71045415e-02 -3.32976273e-03 9.97017453e-01 -6.58131210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-36.54, Z:-6.58 [[ 9.51460588e-01 2.99875550e-01 -6.92632874e-02 9.40492881e+01] [-2.98640714e-01 9.53960974e-01 2.77882002e-02 -3.65359566e+01] [ 7.44074749e-02 -5.75453968e-03 9.97211318e-01 -6.57837091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.09, Y:-36.54, Z:-6.58 [[ 9.51624706e-01 2.98642041e-01 -7.22727424e-02 9.40850672e+01] [-2.97923294e-01 9.54363583e-01 2.07812987e-02 -3.65441859e+01] [ 7.51806429e-02 1.75573625e-03 9.97168385e-01 -6.57895210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.11, Y:-36.56, Z:-6.57 [[ 9.50456387e-01 3.03270836e-01 -6.82602163e-02 9.41085024e+01] [-3.01738331e-01 9.52853917e-01 3.19905195e-02 -3.65584823e+01] [ 7.47438060e-02 -9.80886981e-03 9.97154526e-01 -6.56947916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.15, Y:-36.56, Z:-6.57 [[ 9.50524308e-01 3.01733675e-01 -7.38940385e-02 9.41454641e+01] [-3.01092270e-01 9.53386552e-01 1.99380960e-02 -3.65636225e+01] [ 7.64655775e-02 3.29727889e-03 9.97066770e-01 -6.57331901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.17, Y:-36.59, Z:-6.56 [[ 9.48980682e-01 3.07733481e-01 -6.88169256e-02 9.41692800e+01] [-3.05337966e-01 9.51262011e-01 4.32355554e-02 -3.65851188e+01] [ 7.87679550e-02 -2.00172868e-02 9.96691987e-01 -6.55705567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-36.58, Z:-6.57 [[ 9.49130412e-01 3.04854982e-01 -7.88346488e-02 9.42086278e+01] [-3.04929935e-01 9.52306786e-01 1.13806981e-02 -3.65798608e+01] [ 7.85442336e-02 1.32372776e-02 9.96822741e-01 -6.57042729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-36.60, Z:-6.56 [[ 9.47948342e-01 3.08639067e-01 -7.83317773e-02 9.42358869e+01] [-3.07402151e-01 9.51176757e-01 2.76892352e-02 -3.65966958e+01] [ 8.30533456e-02 -2.16860773e-03 9.96542743e-01 -6.55909523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:-36.61, Z:-6.56 [[ 9.48055975e-01 3.09684876e-01 -7.26990128e-02 9.42636572e+01] [-3.08237727e-01 9.50816132e-01 3.06298246e-02 -3.66067349e+01] [ 7.86089877e-02 -6.63020971e-03 9.96883477e-01 -6.55743408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.29, Y:-36.62, Z:-6.55 [[ 9.47715832e-01 3.10388136e-01 -7.41208920e-02 9.42947054e+01] [-3.08428006e-01 9.50533251e-01 3.68605913e-02 -3.66202473e+01] [ 8.18954627e-02 -1.20724070e-02 9.96567805e-01 -6.54720804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.33, Y:-36.61, Z:-6.56 [[ 9.48360845e-01 3.05506276e-01 -8.53089870e-02 9.43300933e+01] [-3.06179899e-01 9.51958384e-01 5.39488806e-03 -3.66127091e+01] [ 8.28587776e-02 2.10035964e-02 9.96339938e-01 -6.56245959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.35, Y:-36.64, Z:-6.54 [[ 9.48598888e-01 3.08214842e-01 -7.18593187e-02 9.43541133e+01] [-3.06101746e-01 9.51197898e-01 3.90420364e-02 -3.66384923e+01] [ 8.03857679e-02 -1.50389694e-02 9.96650369e-01 -6.54476561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.39, Y:-36.64, Z:-6.55 [[ 9.48515620e-01 3.06593527e-01 -7.94891667e-02 9.43859535e+01] [-3.05987856e-01 9.51825454e-01 1.99934462e-02 -3.66381963e+01] [ 8.17896734e-02 5.35862364e-03 9.96635206e-01 -6.55161795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.42, Y:-36.65, Z:-6.55 [[ 9.50213942e-01 3.02565225e-01 -7.44832079e-02 9.44195515e+01] [-3.02120964e-01 9.53110184e-01 1.74327184e-02 -3.66467324e+01] [ 7.62652384e-02 5.93812651e-03 9.97069883e-01 -6.55390633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09361786499998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:94.45, Y:-36.66, Z:-6.55 [[ 9.50465072e-01 3.01358793e-01 -7.61513252e-02 9.44489802e+01] [-3.00715339e-01 9.53503086e-01 2.00536606e-02 -3.66571836e+01] [ 7.86538705e-02 3.83956756e-03 9.96894591e-01 -6.55074401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.48, Y:-36.68, Z:-6.54 [[ 9.50549614e-01 3.02440982e-01 -7.06037132e-02 9.44768395e+01] [-3.00335451e-01 9.53036073e-01 3.89982167e-02 -3.66762505e+01] [ 7.90825446e-02 -1.58649417e-02 9.96741820e-01 -6.54081960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15361786499997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:94.51, Y:-36.68, Z:-6.54 [[ 9.50910114e-01 3.00211487e-01 -7.51200301e-02 9.45089167e+01] [-2.98752922e-01 9.53851900e-01 3.02199279e-02 -3.66816230e+01] [ 8.07257530e-02 -6.29410659e-03 9.96716478e-01 -6.54131394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.54, Y:-36.68, Z:-6.54 [[ 9.51758302e-01 2.97278343e-01 -7.60376346e-02 9.45422601e+01] [-2.97016287e-01 9.54754671e-01 1.49948081e-02 -3.66832637e+01] [ 7.70549185e-02 8.31298276e-03 9.96992193e-01 -6.54482623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:-36.69, Z:-6.54 [[ 9.52106369e-01 2.95453719e-01 -7.87436546e-02 9.45737355e+01] [-2.95313129e-01 9.55302409e-01 1.36917449e-02 -3.66924927e+01] [ 7.92692798e-02 1.02180375e-02 9.96800869e-01 -6.54421539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.60, Y:-36.72, Z:-6.53 [[ 9.52059043e-01 2.97962085e-01 -6.92977258e-02 9.45986714e+01] [-2.95554391e-01 9.54359120e-01 4.29682638e-02 -3.67172568e+01] [ 7.89378302e-02 -2.04270770e-02 9.96670233e-01 -6.52624359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:-36.72, Z:-6.53 [[ 9.52672925e-01 2.94266094e-01 -7.63004905e-02 9.46303308e+01] [-2.93591419e-01 9.55718216e-01 2.01685481e-02 -3.67150538e+01] [ 7.88566885e-02 3.18713956e-03 9.96880868e-01 -6.53491650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:94.66, Y:-36.73, Z:-6.53 [[ 9.52789500e-01 2.95255184e-01 -7.08275683e-02 9.46609769e+01] [-2.93488626e-01 9.55343097e-01 3.44091998e-02 -3.67335406e+01] [ 7.78241230e-02 -1.19976386e-02 9.96894910e-01 -6.52749947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:-36.73, Z:-6.53 [[ 9.53513627e-01 2.91512530e-01 -7.63688948e-02 9.46927644e+01] [-2.91355867e-01 9.56520414e-01 1.34334308e-02 -3.67314744e+01] [ 7.69644203e-02 9.44156618e-03 9.96989135e-01 -6.53313232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:-36.75, Z:-6.52 [[ 9.53771794e-01 2.91723345e-01 -7.22278054e-02 9.47210699e+01] [-2.90493687e-01 9.56489797e-01 2.72155266e-02 -3.67481037e+01] [ 7.70245634e-02 -4.97568008e-03 9.97016780e-01 -6.52453190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.75, Y:-36.76, Z:-6.52 [[ 9.53440430e-01 2.92602771e-01 -7.30408451e-02 9.47495564e+01] [-2.91519603e-01 9.56229858e-01 2.53136483e-02 -3.67560376e+01] [ 7.72506805e-02 -2.84221758e-03 9.97007650e-01 -6.52242483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:-36.76, Z:-6.52 [[ 9.53963166e-01 2.90583638e-01 -7.42659298e-02 9.47824284e+01] [-2.89761758e-01 9.56849358e-01 2.18501701e-02 -3.67648016e+01] [ 7.74106091e-02 6.75168982e-04 9.96999068e-01 -6.52121271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.81, Y:-36.78, Z:-6.52 [[ 9.53713570e-01 2.91108453e-01 -7.54075217e-02 9.48123539e+01] [-2.90237964e-01 9.56689963e-01 2.24997466e-02 -3.67752480e+01] [ 7.86914856e-02 4.27811866e-04 9.96898925e-01 -6.51854502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-36.79, Z:-6.51 [[ 9.53973059e-01 2.91623048e-01 -6.99385454e-02 9.48412262e+01] [-2.90174752e-01 9.56494820e-01 3.02699876e-02 -3.67888126e+01] [ 7.57232824e-02 -8.58235259e-03 9.97091935e-01 -6.51296173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:-36.79, Z:-6.51 [[ 9.53869888e-01 2.91234950e-01 -7.29002075e-02 9.48733812e+01] [-2.90423924e-01 9.56651453e-01 2.17242380e-02 -3.67937202e+01] [ 7.60669468e-02 4.49867874e-04 9.97102611e-01 -6.51485714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:-36.80, Z:-6.52 [[ 9.54319726e-01 2.89250202e-01 -7.48877905e-02 9.49040906e+01] [-2.88647377e-01 9.57247151e-01 1.89890267e-02 -3.68011717e+01] [ 7.71787040e-02 3.49456155e-03 9.97011151e-01 -6.52019043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:-36.82, Z:-6.51 [[ 9.53037114e-01 2.93925165e-01 -7.29949082e-02 9.49326399e+01] [-2.92248303e-01 9.55775682e-01 3.29207351e-02 -3.68192031e+01] [ 7.94429907e-02 -1.00420444e-02 9.96788828e-01 -6.50576062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:-36.83, Z:-6.50 [[ 9.52564923e-01 2.94983593e-01 -7.48648585e-02 9.49639986e+01] [-2.93465295e-01 9.55474043e-01 3.07810627e-02 -3.68285213e+01] [ 8.06113375e-02 -7.35072287e-03 9.96718505e-01 -6.50276213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-36.84, Z:-6.50 [[ 9.51785614e-01 2.97153141e-01 -7.61850147e-02 9.49962664e+01] [-2.95824549e-01 9.54819125e-01 2.84301595e-02 -3.68369975e+01] [ 8.11910202e-02 -4.52201917e-03 9.96688301e-01 -6.50063240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.03, Y:-36.85, Z:-6.50 [[ 9.51136893e-01 2.99252565e-01 -7.60691314e-02 9.50268352e+01] [-2.97667905e-01 9.54144797e-01 3.16468810e-02 -3.68488797e+01] [ 8.20513762e-02 -7.45717710e-03 9.96600202e-01 -6.49509149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:-36.86, Z:-6.49 [[ 9.50384753e-01 3.01052346e-01 -7.83345751e-02 9.50573453e+01] [-2.99384445e-01 9.53578555e-01 3.25098932e-02 -3.68592394e+01] [ 8.44853506e-02 -7.44475354e-03 9.96396909e-01 -6.49041146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.09, Y:-36.86, Z:-6.50 [[ 9.49035027e-01 3.01651675e-01 -9.13169440e-02 9.50912893e+01] [-3.02013759e-01 9.53249438e-01 1.01586168e-02 -3.68564577e+01] [ 9.01121894e-02 1.79380904e-02 9.95770063e-01 -6.49758817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.11, Y:-36.89, Z:-6.48 [[ 9.49109636e-01 3.06850365e-01 -7.09489372e-02 9.51130823e+01] [-3.03922136e-01 9.51426100e-01 4.91905580e-02 -3.68850541e+01] [ 8.25968113e-02 -2.51242800e-02 9.96266298e-01 -6.47930193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-36.89, Z:-6.48 [[ 9.49427783e-01 3.04631544e-01 -7.60690899e-02 9.51491852e+01] [-3.03076631e-01 9.52445675e-01 3.14927283e-02 -3.68865939e+01] [ 8.20453542e-02 -6.84530769e-03 9.96605088e-01 -6.48493586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:95.18, Y:-36.90, Z:-6.47 [[ 9.48407698e-01 3.07345946e-01 -7.78544076e-02 9.51793208e+01] [-3.05191992e-01 9.51512444e-01 3.84956690e-02 -3.69012136e+01] [ 8.59109255e-02 -1.27490470e-02 9.96221248e-01 -6.47439947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.21, Y:-36.90, Z:-6.49 [[ 9.49352897e-01 3.03595598e-01 -8.09863571e-02 9.52131186e+01] [-3.03413172e-01 9.52743391e-01 1.48485002e-02 -3.68982223e+01] [ 8.16671557e-02 1.04758608e-02 9.96604602e-01 -6.48596632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.24, Y:-36.91, Z:-6.48 [[ 9.49494147e-01 3.04303829e-01 -7.65509227e-02 9.52416921e+01] [-3.03149395e-01 9.52572905e-01 2.65575689e-02 -3.69138948e+01] [ 8.10019047e-02 -2.00989038e-03 9.96711920e-01 -6.47916945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.27, Y:-36.90, Z:-6.50 [[ 9.51964104e-01 2.96351140e-01 -7.70736371e-02 9.52742021e+01] [-2.97792999e-01 9.54599612e-01 -7.67527551e-03 -3.69004674e+01] [ 7.12998874e-02 3.02585763e-02 9.96995860e-01 -6.50261929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:-36.95, Z:-6.47 [[ 9.50692924e-01 3.03377999e-01 -6.43797667e-02 9.52968950e+01] [-3.00221287e-01 9.52322991e-01 5.42964082e-02 -3.69464449e+01] [ 7.77826676e-02 -3.22910347e-02 9.96447262e-01 -6.46568523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.33, Y:-36.94, Z:-6.48 [[ 9.51331126e-01 2.99338108e-01 -7.32515285e-02 9.53337109e+01] [-2.98794872e-01 9.54137571e-01 1.85234897e-02 -3.69383773e+01] [ 7.54368218e-02 4.26520877e-03 9.97141461e-01 -6.48036837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:-36.93, Z:-6.49 [[ 9.53154828e-01 2.93687947e-01 -7.24103862e-02 9.53639067e+01] [-2.94569631e-01 9.55628726e-01 -1.57198335e-03 -3.69331061e+01] [ 6.87357725e-02 2.28282443e-02 9.97373684e-01 -6.49453630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.39, Y:-36.95, Z:-6.48 [[ 9.53526227e-01 2.94346748e-01 -6.44028483e-02 9.53912425e+01] [-2.93594126e-01 9.55697963e-01 2.10687539e-02 -3.69547266e+01] [ 6.77511901e-02 -1.18131137e-03 9.97701549e-01 -6.48371216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:-36.98, Z:-6.47 [[ 9.52019747e-01 2.99464588e-01 -6.30821799e-02 9.54176817e+01] [-2.97290921e-01 9.53878934e-01 4.16303722e-02 -3.69779717e+01] [ 7.26395848e-02 -2.08791770e-02 9.97139685e-01 -6.46520607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:-36.97, Z:-6.48 [[ 9.53241664e-01 2.93580841e-01 -7.16981128e-02 9.54550813e+01] [-2.94067042e-01 9.55776772e-01 3.91630708e-03 -3.69664531e+01] [ 6.96771435e-02 1.73508649e-02 9.97418690e-01 -6.48361199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:-36.99, Z:-6.47 [[ 9.53030133e-01 2.95450486e-01 -6.66526460e-02 9.54846043e+01] [-2.94371309e-01 9.55345656e-01 2.56945578e-02 -3.69898669e+01] [ 7.12677854e-02 -4.86706124e-03 9.97445344e-01 -6.47083454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:-37.01, Z:-6.46 [[ 9.52216627e-01 2.97338887e-01 -6.98074677e-02 9.55136828e+01] [-2.95481137e-01 9.54676823e-01 3.58198427e-02 -3.70057497e+01] [ 7.72942036e-02 -1.34814598e-02 9.96917176e-01 -6.46013881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:95.55, Y:-37.00, Z:-6.48 [[ 9.54110201e-01 2.90913991e-01 -7.10124920e-02 9.55475448e+01] [-2.91172457e-01 9.56645597e-01 6.91394637e-03 -3.69968922e+01] [ 6.99451515e-02 1.40802151e-02 9.97451464e-01 -6.47764006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-37.01, Z:-6.48 [[ 9.54411145e-01 2.90733322e-01 -6.76276642e-02 9.55774042e+01] [-2.90800705e-01 9.56740715e-01 9.06393047e-03 -3.70083059e+01] [ 6.73373264e-02 1.10154561e-02 9.97669456e-01 -6.47737049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.60, Y:-37.05, Z:-6.44 [[ 9.52194640e-01 2.99450127e-01 -6.04565012e-02 9.56000271e+01] [-2.95379636e-01 9.52962907e-01 6.79158963e-02 -3.70524307e+01] [ 7.79502269e-02 -4.68115330e-02 9.95857642e-01 -6.43680870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-37.04, Z:-6.46 [[ 9.52602528e-01 2.94847357e-01 -7.49230220e-02 9.56391713e+01] [-2.94493801e-01 9.55519844e-01 1.59758760e-02 -3.70364194e+01] [ 7.63008791e-02 6.84570568e-03 9.97061338e-01 -6.45837866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:95.67, Y:-37.05, Z:-6.45 [[ 9.52281246e-01 2.96673532e-01 -7.17303487e-02 9.56669780e+01] [-2.95498816e-01 9.54969535e-01 2.67139981e-02 -3.70517451e+01] [ 7.64256339e-02 -4.24300628e-03 9.97066256e-01 -6.45060581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-37.07, Z:-6.44 [[ 9.51377489e-01 2.99385906e-01 -7.24496605e-02 9.56965421e+01] [-2.97510400e-01 9.54051664e-01 3.56788993e-02 -3.70677418e+01] [ 7.98024788e-02 -1.23895741e-02 9.96733697e-01 -6.44060878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:95.73, Y:-37.06, Z:-6.45 [[ 9.52536838e-01 2.94759991e-01 -7.60928365e-02 9.57297374e+01] [-2.94766490e-01 9.55501288e-01 1.14020077e-02 -3.70636186e+01] [ 7.60676589e-02 1.15687859e-02 9.97035543e-01 -6.45473356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.76, Y:-37.08, Z:-6.45 [[ 9.52992820e-01 2.94596009e-01 -7.08369699e-02 9.57589420e+01] [-2.93932815e-01 9.55619986e-01 1.98479919e-02 -3.70771645e+01] [ 7.35403634e-02 1.90631614e-03 9.97290420e-01 -6.45151579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.79, Y:-37.10, Z:-6.44 [[ 9.51624775e-01 2.98656946e-01 -7.22102153e-02 9.57862356e+01] [-2.96870471e-01 9.54291681e-01 3.45732787e-02 -3.70954570e+01] [ 7.92351575e-02 -1.14637079e-02 9.96790035e-01 -6.43920648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44361786499998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:95.82, Y:-37.10, Z:-6.44 [[ 9.50719753e-01 3.01514673e-01 -7.22554730e-02 9.58163813e+01] [-3.00650577e-01 9.53461536e-01 2.28107380e-02 -3.71026697e+01] [ 7.57705864e-02 3.70305194e-05 9.97125276e-01 -6.44387546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47361786499998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:95.85, Y:-37.12, Z:-6.44 [[ 9.51323145e-01 2.99745755e-01 -7.16711702e-02 9.58516000e+01] [-2.98705790e-01 9.54016007e-01 2.50660937e-02 -3.71151211e+01] [ 7.58888988e-02 -2.43736159e-03 9.97113301e-01 -6.43906684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:-37.12, Z:-6.44 [[ 9.50326656e-01 3.01500943e-01 -7.73073645e-02 9.58785667e+01] [-3.01093623e-01 9.53440343e-01 1.71505835e-02 -3.71183214e+01] [ 7.88788772e-02 6.97809782e-03 9.96859784e-01 -6.43947769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:95.91, Y:-37.13, Z:-6.43 [[ 9.49657836e-01 3.04679381e-01 -7.29415438e-02 9.59059795e+01] [-3.03632330e-01 9.52453104e-01 2.53079390e-02 -3.71330437e+01] [ 7.71842070e-02 -1.88647163e-03 9.97015065e-01 -6.43330772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56361786499998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:95.94, Y:-37.15, Z:-6.43 [[ 9.50368784e-01 3.03507269e-01 -6.84288814e-02 9.59404397e+01] [-3.01852628e-01 9.52762422e-01 3.35970073e-02 -3.71483318e+01] [ 7.53934027e-02 -1.12741093e-02 9.97090131e-01 -6.42933839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59361786499998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:95.97, Y:-37.15, Z:-6.43 [[ 9.50391051e-01 3.02793755e-01 -7.12235330e-02 9.59723626e+01] [-3.01893754e-01 9.53055865e-01 2.33383856e-02 -3.71507699e+01] [ 7.49467233e-02 -6.78653055e-04 9.97187308e-01 -6.43205664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:96.00, Y:-37.14, Z:-6.44 [[ 9.51671878e-01 2.98317192e-01 -7.29896543e-02 9.60009043e+01] [-2.98802156e-01 9.54304762e-01 4.43771834e-03 -3.71431757e+01] [ 7.09782223e-02 1.75862143e-02 9.97322825e-01 -6.44400872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65361786499997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:96.02, Y:-37.19, Z:-6.41 [[ 9.49311150e-01 3.08807829e-01 -5.87032027e-02 9.60241707e+01] [-3.05699861e-01 9.50461318e-01 5.63105525e-02 -3.71872530e+01] [ 7.31842629e-02 -3.55106745e-02 9.96686037e-01 -6.41406542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499997 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:96.07, Y:-37.16, Z:-6.44 [[ 9.50870000e-01 2.98270674e-01 -8.29508799e-02 9.60660063e+01] [-3.00057762e-01 9.53871799e-01 -9.69175768e-03 -3.71566731e+01] [ 7.62337379e-02 3.41056570e-02 9.96506508e-01 -6.44032082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:96.09, Y:-37.19, Z:-6.42 [[ 9.50401604e-01 3.03454246e-01 -6.82078599e-02 9.60854096e+01] [-3.02082914e-01 9.52814428e-01 2.98425663e-02 -3.71863607e+01] [ 7.40452865e-02 -7.75799377e-03 9.97224703e-01 -6.42363141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.11, Y:-37.21, Z:-6.40 [[ 9.48644423e-01 3.09071221e-01 -6.74443366e-02 9.61128486e+01] [-3.05530009e-01 9.50418148e-01 5.79375280e-02 -3.72139682e+01] [ 8.20071440e-02 -3.43558440e-02 9.96039409e-01 -6.39893175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:96.16, Y:-37.19, Z:-6.43 [[ 9.50183054e-01 2.99992024e-01 -8.45987549e-02 9.61558118e+01] [-3.01509416e-01 9.53447527e-01 -5.46680109e-03 -3.71896257e+01] [ 7.90204769e-02 3.07017829e-02 9.96400103e-01 -6.42810488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.18, Y:-37.22, Z:-6.41 [[ 9.50128262e-01 3.03388557e-01 -7.21918925e-02 9.61772914e+01] [-3.02052860e-01 9.52849504e-01 2.90153938e-02 -3.72165095e+01] [ 7.75909473e-02 -5.76257805e-03 9.96968624e-01 -6.41288194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83361786499998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:96.21, Y:-37.22, Z:-6.41 [[ 9.50105674e-01 3.03005324e-01 -7.40741614e-02 9.62083291e+01] [-3.01980694e-01 9.52987950e-01 2.49324718e-02 -3.72245092e+01] [ 7.81464549e-02 -1.31951628e-03 9.96941017e-01 -6.41200445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.24, Y:-37.23, Z:-6.41 [[ 9.50113217e-01 3.02941922e-01 -7.42365607e-02 9.62394778e+01] [-3.01910929e-01 9.53008067e-01 2.50083150e-02 -3.72345586e+01] [ 7.83241082e-02 -1.34790162e-03 9.96927037e-01 -6.40933243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.27, Y:-37.24, Z:-6.41 [[ 9.50031954e-01 3.03146728e-01 -7.44402246e-02 9.62710709e+01] [-3.02108901e-01 9.52942927e-01 2.50996038e-02 -3.72445874e+01] [ 7.85461482e-02 -1.35637121e-03 9.96909556e-01 -6.40628633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.30, Y:-37.26, Z:-6.40 [[ 9.49821356e-01 3.03810496e-01 -7.44215955e-02 9.63025775e+01] [-3.02773444e-01 9.52731564e-01 2.51159039e-02 -3.72550181e+01] [ 7.85342783e-02 -1.32273911e-03 9.96910536e-01 -6.40335118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:96.33, Y:-37.26, Z:-6.40 [[ 9.49576033e-01 3.04558845e-01 -7.44933984e-02 9.63333085e+01] [-3.03520293e-01 9.52492657e-01 2.51628730e-02 -3.72645505e+01] [ 7.86179905e-02 -1.28380300e-03 9.96903989e-01 -6.40013272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:-37.27, Z:-6.40 [[ 9.49346816e-01 3.05301330e-01 -7.43755409e-02 9.63640399e+01] [-3.04266682e-01 9.52254986e-01 2.51441301e-02 -3.72744826e+01] [ 7.85010160e-02 -1.24050083e-03 9.96913262e-01 -6.39737531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.40, Y:-37.28, Z:-6.39 [[ 9.49153446e-01 3.05872066e-01 -7.44984180e-02 9.63952697e+01] [-3.04834096e-01 9.52071847e-01 2.52065788e-02 -3.72842878e+01] [ 7.86378348e-02 -1.21525322e-03 9.96902510e-01 -6.39476143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.43, Y:-37.29, Z:-6.39 [[ 9.48714616e-01 3.07078109e-01 -7.51239822e-02 9.64262169e+01] [-3.06024546e-01 9.51683624e-01 2.54412504e-02 -3.72934017e+01] [ 7.93067147e-02 -1.14670356e-03 9.96849603e-01 -6.39223546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:-37.30, Z:-6.39 [[ 9.48617026e-01 3.07432889e-01 -7.49049874e-02 9.64577226e+01] [-3.06384897e-01 9.51569090e-01 2.53882232e-02 -3.73032129e+01] [ 7.90824455e-02 -1.13394392e-03 9.96867434e-01 -6.38977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-37.31, Z:-6.39 [[ 9.48483744e-01 3.07635170e-01 -7.57574421e-02 9.64894435e+01] [-3.06561963e-01 9.51503692e-01 2.56999388e-02 -3.73133747e+01] [ 7.99896909e-02 -1.15162399e-03 9.96795026e-01 -6.38695447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:-37.32, Z:-6.38 [[ 9.48506533e-01 3.07531986e-01 -7.58909356e-02 9.65211317e+01] [-3.06452849e-01 9.51537007e-01 2.57677127e-02 -3.73234816e+01] [ 8.01374296e-02 -1.18385043e-03 9.96783121e-01 -6.38468816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.56, Y:-37.32, Z:-6.40 [[ 9.49838227e-01 3.02808546e-01 -7.81941591e-02 9.65576491e+01] [-3.03559248e-01 9.52809573e-01 2.38769551e-03 -3.73206970e+01] [ 7.52271579e-02 2.14686356e-02 9.96935290e-01 -6.39912229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:-37.34, Z:-6.39 [[ 9.50245368e-01 3.03066954e-01 -7.20011307e-02 9.65830408e+01] [-3.01834073e-01 9.52958259e-01 2.76902233e-02 -3.73421839e+01] [ 7.70060638e-02 -4.58011188e-03 9.97020104e-01 -6.38524399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:-37.36, Z:-6.37 [[ 9.49403576e-01 3.05604601e-01 -7.23787145e-02 9.66089569e+01] [-3.02800700e-01 9.51882178e-01 4.72446374e-02 -3.73636881e+01] [ 8.33341870e-02 -2.29379023e-02 9.96257630e-01 -6.36694316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-37.35, Z:-6.39 [[ 9.50979314e-01 2.98814325e-01 -7.96764984e-02 9.66466651e+01] [-2.99099753e-01 9.54183020e-01 8.60826797e-03 -3.73525862e+01] [ 7.85982356e-02 1.56449362e-02 9.96783604e-01 -6.38661999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.67, Y:-37.38, Z:-6.36 [[ 9.50952639e-01 3.00489126e-01 -7.34531352e-02 9.66698465e+01] [-2.97963445e-01 9.53586785e-01 4.34744542e-02 -3.73814489e+01] [ 8.31075398e-02 -1.94557978e-02 9.96350645e-01 -6.36290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-37.38, Z:-6.37 [[ 9.51363899e-01 2.97788516e-01 -7.89223148e-02 9.67041803e+01] [-2.96573048e-01 9.54629204e-01 2.69723791e-02 -3.73834784e+01] [ 8.33736113e-02 -2.25431631e-03 9.96515810e-01 -6.36687664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:-37.38, Z:-6.38 [[ 9.52935518e-01 2.92793214e-01 -7.86513356e-02 9.67378070e+01] [-2.92772951e-01 9.56106079e-01 1.20484712e-02 -3.73835922e+01] [ 7.87267307e-02 1.15455674e-02 9.96829374e-01 -6.37775425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.76, Y:-37.41, Z:-6.36 [[ 9.52675120e-01 2.94746166e-01 -7.43963299e-02 9.67633059e+01] [-2.92478281e-01 9.55436071e-01 3.99796209e-02 -3.74096540e+01] [ 8.28647771e-02 -1.63282795e-02 9.96427025e-01 -6.35678345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.80, Y:-37.40, Z:-6.37 [[ 9.53828402e-01 2.89981503e-01 -7.82439022e-02 9.67998991e+01] [-2.89956323e-01 9.56965478e-01 1.19333537e-02 -3.74044077e+01] [ 7.83371652e-02 1.13049424e-02 9.96862822e-01 -6.37235315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-37.42, Z:-6.36 [[ 9.54167799e-01 2.89985156e-01 -7.39758079e-02 9.68273967e+01] [-2.88918253e-01 9.57027993e-01 2.49732770e-02 -3.74205540e+01] [ 7.80387986e-02 -2.45573563e-03 9.96947298e-01 -6.36441982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:-37.44, Z:-6.35 [[ 9.53104956e-01 2.93333615e-01 -7.44737044e-02 9.68541570e+01] [-2.91054103e-01 9.55867733e-01 4.00547970e-02 -3.74392913e+01] [ 8.29364293e-02 -1.65005483e-02 9.96418226e-01 -6.34857343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.89, Y:-37.44, Z:-6.36 [[ 9.53504517e-01 2.91131193e-01 -7.79215300e-02 9.68890267e+01] [-2.90379870e-01 9.56679744e-01 2.10570443e-02 -3.74392301e+01] [ 8.06763118e-02 2.54885690e-03 9.96737095e-01 -6.35752413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:-37.45, Z:-6.35 [[ 9.52963981e-01 2.93148949e-01 -7.69632691e-02 9.69182325e+01] [-2.91901423e-01 9.56060398e-01 2.72410364e-02 -3.74511897e+01] [ 8.15672149e-02 -3.49403876e-03 9.96661719e-01 -6.35283651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.95, Y:-37.46, Z:-6.35 [[ 9.52575926e-01 2.94172998e-01 -7.78546877e-02 9.69494052e+01] [-2.92936847e-01 9.55747430e-01 2.71081732e-02 -3.74609782e+01] [ 8.23839103e-02 -3.01608646e-03 9.96596104e-01 -6.35034858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.98, Y:-37.47, Z:-6.35 [[ 9.52700670e-01 2.93522401e-01 -7.87783868e-02 9.69812332e+01] [-2.92892401e-01 9.55942490e-01 1.96976425e-02 -3.74658872e+01] [ 8.10893066e-02 4.30763364e-03 9.96697531e-01 -6.35332615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:-37.48, Z:-6.34 [[ 9.52048653e-01 2.96213134e-01 -7.65580964e-02 9.70081660e+01] [-2.94387898e-01 9.55067486e-01 3.43782301e-02 -3.74837054e+01] [ 8.33014320e-02 -1.01919706e-02 9.96472275e-01 -6.34287095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-37.48, Z:-6.35 [[ 9.51865187e-01 2.95997719e-01 -7.96116558e-02 9.70414866e+01] [-2.95332195e-01 9.55179375e-01 2.02794603e-02 -3.74843105e+01] [ 8.20460856e-02 4.20857284e-03 9.96619651e-01 -6.34792017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.07, Y:-37.50, Z:-6.33 [[ 9.50833345e-01 2.99912837e-01 -7.72543885e-02 9.70678404e+01] [-2.97802140e-01 9.53878893e-01 3.78013516e-02 -3.75036817e+01] [ 8.50284412e-02 -1.29362633e-02 9.96294543e-01 -6.33340087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-37.50, Z:-6.34 [[ 9.51453726e-01 2.97065589e-01 -8.05471465e-02 9.71030843e+01] [-2.96704197e-01 9.54823458e-01 1.66968006e-02 -3.75010689e+01] [ 8.18683499e-02 8.01244328e-03 9.96610944e-01 -6.34389508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.13, Y:-37.51, Z:-6.34 [[ 9.51234538e-01 2.98738176e-01 -7.68658362e-02 9.71315752e+01] [-2.97647107e-01 9.54334048e-01 2.55484645e-02 -3.75136951e+01] [ 8.09879863e-02 -1.42368797e-03 9.96714061e-01 -6.33839303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.16, Y:-37.53, Z:-6.34 [[ 9.51156422e-01 2.98988920e-01 -7.68575682e-02 9.71630017e+01] [-2.97847347e-01 9.54254468e-01 2.61795399e-02 -3.75250020e+01] [ 8.11690702e-02 -2.00901471e-03 9.96698322e-01 -6.33530485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.19, Y:-37.54, Z:-6.33 [[ 9.50889438e-01 2.99848915e-01 -7.68108391e-02 9.71939808e+01] [-2.98599786e-01 9.53981182e-01 2.75330994e-02 -3.75355180e+01] [ 8.15318651e-02 -3.24523331e-03 9.96665452e-01 -6.33127988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-37.54, Z:-6.33 [[ 9.50529524e-01 3.00780602e-01 -7.76186452e-02 9.72256550e+01] [-2.99688560e-01 9.53692726e-01 2.56310491e-02 -3.75447882e+01] [ 8.17336597e-02 -1.10164881e-03 9.96653598e-01 -6.32926330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.25, Y:-37.56, Z:-6.32 [[ 9.49198822e-01 3.05074195e-01 -7.71448708e-02 9.72534552e+01] [-3.02964344e-01 9.52243912e-01 3.80018254e-02 -3.75615897e+01] [ 8.50541098e-02 -1.26991427e-02 9.96295403e-01 -6.31593383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:-37.57, Z:-6.32 [[ 9.48936669e-01 3.04954029e-01 -8.07603759e-02 9.72860713e+01] [-3.03673822e-01 9.52364901e-01 2.79875821e-02 -3.75662385e+01] [ 8.54482733e-02 -2.03363091e-03 9.96340533e-01 -6.31709019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.32, Y:-37.57, Z:-6.31 [[ 9.48596814e-01 3.05603642e-01 -8.22830386e-02 9.73173838e+01] [-3.04274931e-01 9.52156642e-01 2.85393826e-02 -3.75748487e+01] [ 8.70680809e-02 -2.03570151e-03 9.96200284e-01 -6.31384973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-37.58, Z:-6.31 [[ 9.48804921e-01 3.05540121e-01 -8.00903006e-02 9.73488992e+01] [-3.04279091e-01 9.52177081e-01 2.78036323e-02 -3.75835708e+01] [ 8.47552738e-02 -2.01041924e-03 9.96399770e-01 -6.31434417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.38, Y:-37.59, Z:-6.31 [[ 9.48159556e-01 3.07242720e-01 -8.12118737e-02 9.73789901e+01] [-3.05950004e-01 9.51629268e-01 2.82193362e-02 -3.75944485e+01] [ 8.59537816e-02 -1.90966022e-03 9.96297295e-01 -6.31089275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.41, Y:-37.60, Z:-6.31 [[ 9.47884705e-01 3.08106369e-01 -8.11483253e-02 9.74100921e+01] [-3.06816747e-01 9.51350110e-01 2.82214856e-02 -3.76041201e+01] [ 8.58956876e-02 -1.85304939e-03 9.96302412e-01 -6.30675927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:97.44, Y:-37.61, Z:-6.30 [[ 9.47500998e-01 3.08895585e-01 -8.26158349e-02 9.74409531e+01] [-3.07559549e-01 9.51094179e-01 2.87573575e-02 -3.76137264e+01] [ 8.74584604e-02 -1.83833596e-03 9.96166471e-01 -6.30352399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-37.62, Z:-6.30 [[ 9.47459791e-01 3.09521568e-01 -8.07238762e-02 9.74715025e+01] [-3.08246235e-01 9.50890787e-01 2.81241920e-02 -3.76233639e+01] [ 8.54646341e-02 -1.76371010e-03 9.96339644e-01 -6.30165638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.50, Y:-37.63, Z:-6.30 [[ 9.47218002e-01 3.10290701e-01 -8.06085523e-02 9.75028004e+01] [-3.09019731e-01 9.50640174e-01 2.81081080e-02 -3.76326007e+01] [ 8.53514127e-02 -1.71487279e-03 9.96349434e-01 -6.30033835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-37.64, Z:-6.30 [[ 9.46894140e-01 3.11303409e-01 -8.05088540e-02 9.75327571e+01] [-3.10037029e-01 9.50309148e-01 2.80991739e-02 -3.76417312e+01] [ 8.52556691e-02 -1.64621726e-03 9.96357747e-01 -6.29643098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:-37.65, Z:-6.29 [[ 9.46833708e-01 3.11577237e-01 -8.01595596e-02 9.75640878e+01] [-3.10320789e-01 9.50219419e-01 2.80011324e-02 -3.76511748e+01] [ 8.48936857e-02 -1.63723825e-03 9.96388670e-01 -6.29397313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:97.59, Y:-37.66, Z:-6.29 [[ 9.46596921e-01 3.12384137e-01 -7.98149067e-02 9.75939738e+01] [-3.11139295e-01 9.49954552e-01 2.79049888e-02 -3.76608011e+01] [ 8.45376097e-02 -1.58122268e-03 9.96419034e-01 -6.29172360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.63, Y:-37.67, Z:-6.29 [[ 9.46477808e-01 3.12893549e-01 -7.92299554e-02 9.76251963e+01] [-3.11666820e-01 9.49786944e-01 2.77228325e-02 -3.76700622e+01] [ 8.39258726e-02 -1.54569748e-03 9.96470802e-01 -6.28969351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.66, Y:-37.68, Z:-6.29 [[ 9.46292855e-01 3.12895166e-01 -8.14029908e-02 9.76552229e+01] [-3.11995774e-01 9.49783521e-01 2.38725899e-02 -3.76778426e+01] [ 8.47848372e-02 2.80692788e-03 9.96395329e-01 -6.28886645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27361786499998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:97.69, Y:-37.69, Z:-6.28 [[ 9.46648026e-01 3.12942756e-01 -7.69697682e-02 9.76850639e+01] [-3.11402740e-01 9.49753574e-01 3.15670942e-02 -3.76924893e+01] [ 8.29810060e-02 -5.91433067e-03 9.96533579e-01 -6.28355003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-37.70, Z:-6.28 [[ 9.46679450e-01 3.12524112e-01 -7.82732346e-02 9.77171939e+01] [-3.11321030e-01 9.49908459e-01 2.74433025e-02 -3.77009066e+01] [ 8.29291014e-02 -1.61190643e-03 9.96554146e-01 -6.28224808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:-37.71, Z:-6.28 [[ 9.47011227e-01 3.11517964e-01 -7.82706449e-02 9.77477995e+01] [-3.10309528e-01 9.50238701e-01 2.74664754e-02 -3.77102505e+01] [ 8.29320965e-02 -1.72293367e-03 9.96553711e-01 -6.28000115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.78, Y:-37.72, Z:-6.28 [[ 9.47036593e-01 3.11399474e-01 -7.84350697e-02 9.77789608e+01] [-3.10184293e-01 9.50277486e-01 2.75391265e-02 -3.77209804e+01] [ 8.31107504e-02 -1.75123384e-03 9.96538778e-01 -6.27785680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.81, Y:-37.73, Z:-6.28 [[ 9.47118349e-01 3.11163913e-01 -7.83827269e-02 9.78097869e+01] [-3.09947557e-01 9.50354567e-01 2.75446806e-02 -3.77316182e+01] [ 8.30622930e-02 -1.79353771e-03 9.96542743e-01 -6.27553086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:-37.74, Z:-6.27 [[ 9.47225030e-01 3.10750926e-01 -7.87312195e-02 9.78402733e+01] [-3.09520172e-01 9.50489555e-01 2.76923955e-02 -3.77418564e+01] [ 8.34386394e-02 -1.86202961e-03 9.96511177e-01 -6.27289798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-37.75, Z:-6.27 [[ 9.46978401e-01 3.11506573e-01 -7.87118998e-02 9.78715544e+01] [-3.10277071e-01 9.50242260e-01 2.77089743e-02 -3.77529569e+01] [ 8.34269012e-02 -1.81730245e-03 9.96512243e-01 -6.27024227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-37.76, Z:-6.27 [[ 9.46650950e-01 3.12599804e-01 -7.83156559e-02 9.79028402e+01] [-3.11384421e-01 9.49883336e-01 2.75932873e-02 -3.77640885e+01] [ 8.30163927e-02 -1.73493641e-03 9.96546672e-01 -6.26742270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51361786499997 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:97.94, Y:-37.77, Z:-6.27 [[ 9.46600125e-01 3.10796140e-01 -8.57552441e-02 9.79362662e+01] [-3.10503525e-01 9.50418943e-01 1.70702544e-02 -3.77684426e+01] [ 8.68087777e-02 1.04686006e-02 9.96169988e-01 -6.26724311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:-37.79, Z:-6.26 [[ 9.46283465e-01 3.14630688e-01 -7.45327665e-02 9.79603513e+01] [-3.12429004e-01 9.49104416e-01 3.98613268e-02 -3.77913587e+01] [ 8.32809745e-02 -1.44339165e-02 9.96421568e-01 -6.25813207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57361786499997 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:97.99, Y:-37.79, Z:-6.26 [[ 9.45940435e-01 3.13187268e-01 -8.43233619e-02 9.79947948e+01] [-3.12657560e-01 9.49660385e-01 1.97586204e-02 -3.77915976e+01] [ 8.62667047e-02 7.67385858e-03 9.96242524e-01 -6.26189711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-37.81, Z:-6.25 [[ 9.45584883e-01 3.16596509e-01 -7.50724967e-02 9.80193932e+01] [-3.14648242e-01 9.48494357e-01 3.68094964e-02 -3.78118391e+01] [ 8.28595975e-02 -1.11850742e-02 9.96498460e-01 -6.25420068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-37.82, Z:-6.26 [[ 9.45351560e-01 3.16773909e-01 -7.72315915e-02 9.80535841e+01] [-3.15700322e-01 9.48501042e-01 2.60591681e-02 -3.78198367e+01] [ 8.15091095e-02 -2.53036963e-04 9.96672565e-01 -6.25844516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499998 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:98.08, Y:-37.83, Z:-6.25 [[ 9.44556591e-01 3.19229097e-01 -7.68480962e-02 9.80803547e+01] [-3.17864458e-01 9.47670605e-01 2.97087685e-02 -3.78325372e+01] [ 8.23105852e-02 -3.63433468e-03 9.96600100e-01 -6.25194898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-37.84, Z:-6.25 [[ 9.44270402e-01 3.19788700e-01 -7.80294550e-02 9.81115051e+01] [-3.18696885e-01 9.47488883e-01 2.64028799e-02 -3.78433361e+01] [ 8.23753838e-02 -6.37138185e-05 9.96601371e-01 -6.25020451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.86, Z:-6.25 [[ 9.44019284e-01 3.20709138e-01 -7.72867444e-02 9.81413216e+01] [-3.19532113e-01 9.47176909e-01 2.74796654e-02 -3.78560690e+01] [ 8.20171995e-02 -1.24573729e-03 9.96630136e-01 -6.24725290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:98.18, Y:-37.86, Z:-6.26 [[ 9.44988115e-01 3.17943493e-01 -7.68726028e-02 9.81755222e+01] [-3.18029845e-01 9.48011635e-01 1.14436932e-02 -3.78592771e+01] [ 7.65145697e-02 1.36336279e-02 9.96975248e-01 -6.25793744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.20, Y:-37.88, Z:-6.25 [[ 9.44464888e-01 3.20572604e-01 -7.22445955e-02 9.82001251e+01] [-3.19545704e-01 9.47223244e-01 2.56645497e-02 -3.78775026e+01] [ 7.66591116e-02 -1.15381591e-03 9.97056693e-01 -6.25048249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81361786499998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:98.23, Y:-37.89, Z:-6.25 [[ 9.44287570e-01 3.20471165e-01 -7.49614438e-02 9.82301323e+01] [-3.19614776e-01 9.47256587e-01 2.34808988e-02 -3.78887417e+01] [ 7.85326724e-02 1.78606424e-03 9.96909940e-01 -6.24882175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.26, Y:-37.91, Z:-6.23 [[ 9.43673618e-01 3.23308502e-01 -7.03684220e-02 9.82559530e+01] [-3.20766114e-01 9.46081362e-01 4.51570252e-02 -3.79135095e+01] [ 8.11739026e-02 -2.00416881e-02 9.96498434e-01 -6.23093147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87361786499999 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:98.29, Y:-37.91, Z:-6.24 [[ 9.43400607e-01 3.21052113e-01 -8.31915561e-02 9.82900293e+01] [-3.20609188e-01 9.47021088e-01 1.89949425e-02 -3.79142075e+01] [ 8.48825243e-02 8.75213698e-03 9.96352527e-01 -6.23705552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-37.94, Z:-6.23 [[ 9.43919923e-01 3.21602085e-01 -7.47481026e-02 9.83168714e+01] [-3.19664529e-01 9.46811654e-01 3.69090924e-02 -3.79364881e+01] [ 8.26424157e-02 -1.09449107e-02 9.96519162e-01 -6.22879812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.35, Y:-37.93, Z:-6.25 [[ 9.45172073e-01 3.16225210e-01 -8.15559202e-02 9.83532717e+01] [-3.16829703e-01 9.48464937e-01 5.76215015e-03 -3.79306621e+01] [ 7.91750679e-02 2.03931146e-02 9.96652111e-01 -6.24647051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:98.38, Y:-37.96, Z:-6.22 [[ 9.44637884e-01 3.20307422e-01 -7.11507079e-02 9.83752333e+01] [-3.17951912e-01 9.47150095e-01 4.25826224e-02 -3.79638187e+01] [ 8.10299297e-02 -1.76026547e-02 9.96556219e-01 -6.22470345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.41, Y:-37.97, Z:-6.23 [[ 9.45279605e-01 3.16967136e-01 -7.73194918e-02 9.84076758e+01] [-3.15820521e-01 9.48435925e-01 2.69572663e-02 -3.79697164e+01] [ 8.18771512e-02 -1.06307193e-03 9.96641862e-01 -6.22739724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-37.98, Z:-6.22 [[ 9.45366947e-01 3.17275132e-01 -7.49521591e-02 9.84355583e+01] [-3.15816449e-01 9.48317415e-01 3.08877133e-02 -3.79837417e+01] [ 8.08783411e-02 -5.52909843e-03 9.96708645e-01 -6.22299270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.47, Y:-37.99, Z:-6.22 [[ 9.45337314e-01 3.15897334e-01 -8.09088204e-02 9.84665621e+01] [-3.15305978e-01 9.48772459e-01 2.03214499e-02 -3.79929712e+01] [ 8.31835524e-02 6.30040984e-03 9.96514326e-01 -6.22437313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.49, Y:-38.01, Z:-6.22 [[ 9.45589545e-01 3.16898930e-01 -7.37257125e-02 9.84926957e+01] [-3.15120940e-01 9.48408790e-01 3.49221944e-02 -3.80130055e+01] [ 8.09889198e-02 -9.78954603e-03 9.96666925e-01 -6.21565540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.53, Y:-38.03, Z:-6.21 [[ 9.44841997e-01 3.18038047e-01 -7.82649387e-02 9.85253905e+01] [-3.16601801e-01 9.48069531e-01 3.04542921e-02 -3.80255432e+01] [ 8.38862273e-02 -3.99567360e-03 9.96467328e-01 -6.21458243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:-38.03, Z:-6.21 [[ 9.45464594e-01 3.16563936e-01 -7.67070763e-02 9.85534602e+01] [-3.15547500e-01 9.48571145e-01 2.53487252e-02 -3.80347141e+01] [ 8.07866115e-02 2.38404015e-04 9.96731391e-01 -6.21418323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:-38.06, Z:-6.20 [[ 9.44188763e-01 3.20745231e-01 -7.50338313e-02 9.85822779e+01] [-3.18307151e-01 9.47021487e-01 4.27885622e-02 -3.80595369e+01] [ 8.47828778e-02 -1.65166746e-02 9.96262547e-01 -6.20054038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-38.06, Z:-6.20 [[ 9.43656969e-01 3.20267594e-01 -8.33078211e-02 9.86143406e+01] [-3.19257543e-01 9.47323826e-01 2.55380150e-02 -3.80625145e+01] [ 8.70984824e-02 2.49752444e-03 9.96196575e-01 -6.20429231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23361786499999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:98.64, Y:-38.07, Z:-6.21 [[ 9.43916090e-01 3.19261848e-01 -8.42275897e-02 9.86449920e+01] [-3.19340078e-01 9.47552291e-01 1.29061965e-02 -3.80663791e+01] [ 8.39305018e-02 1.47148786e-02 9.96362958e-01 -6.20915081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:98.67, Y:-38.09, Z:-6.20 [[ 9.43411768e-01 3.21445187e-01 -8.15305257e-02 9.86721801e+01] [-3.20554950e-01 9.46922228e-01 2.41416372e-02 -3.80856861e+01] [ 8.49632801e-02 3.35950898e-03 9.96378419e-01 -6.20136301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-38.12, Z:-6.18 [[ 9.42461431e-01 3.27040246e-01 -6.93622984e-02 9.86940738e+01] [-3.23131709e-01 9.44327156e-01 6.19041218e-02 -3.81185230e+01] [ 8.57458412e-02 -3.59290892e-02 9.95668997e-01 -6.18028590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.73, Y:-38.11, Z:-6.19 [[ 9.41032573e-01 3.27363923e-01 -8.53847631e-02 9.87311330e+01] [-3.26405350e-01 9.44889817e-01 2.53531257e-02 -3.81131616e+01] [ 8.89788919e-02 4.01192645e-03 9.96025432e-01 -6.19213913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:-38.13, Z:-6.19 [[ 9.40719128e-01 3.29087133e-01 -8.21534031e-02 9.87594446e+01] [-3.27659609e-01 9.44297560e-01 3.06805861e-02 -3.81276042e+01] [ 8.76738442e-02 -1.94346225e-03 9.96147339e-01 -6.18826834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:-38.14, Z:-6.19 [[ 9.40143591e-01 3.30226045e-01 -8.41474147e-02 9.87906791e+01] [-3.28949579e-01 9.43901793e-01 2.90100029e-02 -3.81392430e+01] [ 8.90067541e-02 4.06688360e-04 9.96030939e-01 -6.18603068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-38.16, Z:-6.18 [[ 9.40107113e-01 3.31831583e-01 -7.80154913e-02 9.88171621e+01] [-3.29714900e-01 9.43275383e-01 3.89825269e-02 -3.81569121e+01] [ 8.65257260e-02 -1.09248810e-02 9.96189714e-01 -6.17856973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:-38.17, Z:-6.18 [[ 9.39795027e-01 3.32457731e-01 -7.91022423e-02 9.88478340e+01] [-3.30672471e-01 9.43093604e-01 3.50737933e-02 -3.81680808e+01] [ 8.62613726e-02 -6.80524255e-03 9.96249298e-01 -6.17630293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.88, Y:-38.17, Z:-6.18 [[ 9.39586174e-01 3.30466751e-01 -8.92723308e-02 9.88811179e+01] [-3.30549618e-01 9.43680514e-01 1.42841846e-02 -3.81683257e+01] [ 8.89650070e-02 1.60877125e-02 9.95904821e-01 -6.18341043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.90, Y:-38.20, Z:-6.17 [[ 9.39937356e-01 3.32843500e-01 -7.57163825e-02 9.89029854e+01] [-3.30374174e-01 9.42849208e-01 4.34543000e-02 -3.81961182e+01] [ 8.58526125e-02 -1.58295825e-02 9.96182088e-01 -6.16781569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.94, Y:-38.20, Z:-6.17 [[ 9.40211679e-01 3.30980353e-01 -8.03368138e-02 9.89359978e+01] [-3.29878531e-01 9.43636994e-01 2.70070181e-02 -3.81994798e+01] [ 8.47475819e-02 1.10907631e-03 9.96401835e-01 -6.17284112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.97, Y:-38.21, Z:-6.17 [[ 9.40275135e-01 3.31241938e-01 -7.84948986e-02 9.89652972e+01] [-3.29669234e-01 9.43533814e-01 3.25904622e-02 -3.82144877e+01] [ 8.48579189e-02 -4.76664813e-03 9.96381660e-01 -6.16719123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.00, Y:-38.21, Z:-6.19 [[ 9.42198621e-01 3.24685366e-01 -8.27113737e-02 9.89992860e+01] [-3.26046571e-01 9.45348490e-01 -3.14114883e-03 -3.82052810e+01] [ 7.71711872e-02 2.99273459e-02 9.96568594e-01 -6.18901703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:99.02, Y:-38.23, Z:-6.17 [[ 9.42253292e-01 3.27003222e-01 -7.23023283e-02 9.90232622e+01] [-3.25982362e-01 9.45022910e-01 2.58301914e-02 -3.82320792e+01] [ 7.67739125e-02 -7.69299131e-04 9.97048231e-01 -6.17484143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:-38.27, Z:-6.15 [[ 9.40408079e-01 3.32955670e-01 -6.90881119e-02 9.90487269e+01] [-3.29018804e-01 9.42253932e-01 6.24832293e-02 -3.82658914e+01] [ 8.59026906e-02 -3.60284457e-02 9.95651886e-01 -6.14517606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:-38.26, Z:-6.16 [[ 9.40356914e-01 3.30567694e-01 -8.03360087e-02 9.90868227e+01] [-3.29261874e-01 9.43781555e-01 2.93767734e-02 -3.82612420e+01] [ 8.55306555e-02 -1.17306716e-03 9.96334849e-01 -6.15681495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:99.12, Y:-38.26, Z:-6.16 [[ 9.40821575e-01 3.28970145e-01 -8.14457394e-02 9.91195617e+01] [-3.28920144e-01 9.44247697e-01 1.44161493e-02 -3.82642890e+01] [ 8.16474346e-02 1.32261200e-02 9.96573513e-01 -6.16481783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.15, Y:-38.27, Z:-6.17 [[ 9.41743852e-01 3.27209200e-01 -7.77988170e-02 9.91474062e+01] [-3.27473216e-01 9.44810644e-01 9.70255364e-03 -3.82683114e+01] [ 7.66799152e-02 1.63397085e-02 9.96921865e-01 -6.17017228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77361786499998 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:99.18, Y:-38.30, Z:-6.15 [[ 9.39892020e-01 3.33953114e-01 -7.12622476e-02 9.91763328e+01] [-3.31860640e-01 9.42489661e-01 3.97712772e-02 -3.83015724e+01] [ 8.04456735e-02 -1.37315710e-02 9.96664406e-01 -6.15181955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.21, Y:-38.29, Z:-6.16 [[ 9.41107729e-01 3.29077847e-01 -7.76145140e-02 9.92057715e+01] [-3.28902530e-01 9.44238313e-01 1.53991522e-02 -3.82921739e+01] [ 7.83541176e-02 1.10353488e-02 9.96864511e-01 -6.16342145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.23, Y:-38.31, Z:-6.16 [[ 9.41206152e-01 3.29743964e-01 -7.34840039e-02 9.92335847e+01] [-3.28687961e-01 9.44070159e-01 2.63772468e-02 -3.83089745e+01] [ 7.80717931e-02 -6.73119612e-04 9.96947512e-01 -6.15662655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.26, Y:-38.32, Z:-6.15 [[ 9.41746957e-01 3.28221341e-01 -7.33717886e-02 9.92630996e+01] [-3.27162331e-01 9.44600488e-01 2.63576778e-02 -3.83196660e+01] [ 7.79581797e-02 -8.17777478e-04 9.96956295e-01 -6.15372459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-38.35, Z:-6.13 [[ 9.40939305e-01 3.29642357e-01 -7.72602166e-02 9.92923210e+01] [-3.26492387e-01 9.43837547e-01 5.07287417e-02 -3.83456202e+01] [ 8.96434353e-02 -2.25077944e-02 9.95719566e-01 -6.12923442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.33, Y:-38.33, Z:-6.16 [[ 9.43307197e-01 3.22454505e-01 -7.87059430e-02 9.93281706e+01] [-3.22930152e-01 9.46397216e-01 6.95892893e-03 -3.83299419e+01] [ 7.67310233e-02 1.88521144e-02 9.96873587e-01 -6.15673800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95361786499998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:99.36, Y:-38.34, Z:-6.15 [[ 9.43649909e-01 3.21396576e-01 -7.89245907e-02 9.93579097e+01] [-3.21214960e-01 9.46882159e-01 1.53338290e-02 -3.83443292e+01] [ 7.96605270e-02 1.08819929e-02 9.96762651e-01 -6.15164859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.38, Y:-38.37, Z:-6.14 [[ 9.44273065e-01 3.22280929e-01 -6.69580605e-02 9.93821682e+01] [-3.20402967e-01 9.46542476e-01 3.74069526e-02 -3.83657407e+01] [ 7.54341958e-02 -1.38688166e-02 9.97054331e-01 -6.14061024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01361786499997 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:99.42, Y:-38.36, Z:-6.15 [[ 9.44941200e-01 3.17096610e-01 -8.08447136e-02 9.94202419e+01] [-3.17254097e-01 9.48274057e-01 1.12316711e-02 -3.83621888e+01] [ 8.02244694e-02 1.50350478e-02 9.96663425e-01 -6.14801959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.44, Y:-38.39, Z:-6.13 [[ 9.45511700e-01 3.19269427e-01 -6.38330547e-02 9.94414902e+01] [-3.17149285e-01 9.47478491e-01 4.12412497e-02 -3.83878753e+01] [ 7.36475165e-02 -1.87494764e-02 9.97108069e-01 -6.13477707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07361786499997 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:99.48, Y:-38.39, Z:-6.14 [[ 9.45828355e-01 3.17141229e-01 -6.94993863e-02 9.94763862e+01] [-3.16157207e-01 9.48376811e-01 2.50208946e-02 -3.83905254e+01] [ 7.38467636e-02 -1.69273974e-03 9.97268164e-01 -6.13955926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:99.51, Y:-38.40, Z:-6.14 [[ 9.46357112e-01 3.15280410e-01 -7.07564803e-02 9.95082798e+01] [-3.14253915e-01 9.48996680e-01 2.54907435e-02 -3.83999323e+01] [ 7.51843969e-02 -1.88784549e-03 9.97167861e-01 -6.13618979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.53, Y:-38.43, Z:-6.11 [[ 9.44452895e-01 3.20563332e-01 -7.24422536e-02 9.95335911e+01] [-3.17189848e-01 9.46801917e-01 5.43758193e-02 -3.84265536e+01] [ 8.60193584e-02 -2.83774525e-02 9.95889246e-01 -6.11013058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499998 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:99.58, Y:-38.41, Z:-6.14 [[ 9.45577618e-01 3.14585579e-01 -8.31798201e-02 9.95763666e+01] [-3.15584855e-01 9.48896610e-01 1.19276760e-03 -3.84099569e+01] [ 7.93042768e-02 2.51224371e-02 9.96533840e-01 -6.13616721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:-38.45, Z:-6.10 [[ 9.44064190e-01 3.22582918e-01 -6.84329397e-02 9.95907248e+01] [-3.18630251e-01 9.45801782e-01 6.27196372e-02 -3.84507766e+01] [ 8.49562799e-02 -3.74065587e-02 9.95682269e-01 -6.10359328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:-38.45, Z:-6.11 [[ 9.43486541e-01 3.21938969e-01 -7.86666831e-02 9.96293695e+01] [-3.20329175e-01 9.46743898e-01 3.26375720e-02 -3.84466231e+01] [ 8.49845085e-02 -5.59387625e-03 9.96366570e-01 -6.11347528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:-38.46, Z:-6.11 [[ 9.43387643e-01 3.22446805e-01 -7.77676923e-02 9.96602840e+01] [-3.21055808e-01 9.46581324e-01 3.01158625e-02 -3.84558140e+01] [ 8.33242088e-02 -3.44316325e-03 9.96516543e-01 -6.11305320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.69, Y:-38.46, Z:-6.12 [[ 9.42646644e-01 3.23597623e-01 -8.18650242e-02 9.96901128e+01] [-3.22975647e-01 9.46172096e-01 2.10973016e-02 -3.84599391e+01] [ 8.42854382e-02 6.55310858e-03 9.96420103e-01 -6.11544967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:-38.47, Z:-6.11 [[ 9.43382904e-01 3.22982734e-01 -7.55701582e-02 9.97216338e+01] [-3.22033192e-01 9.46404359e-01 2.47671755e-02 -3.84708143e+01] [ 7.95192972e-02 9.71169320e-04 9.96832854e-01 -6.11479947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:-38.48, Z:-6.11 [[ 9.43262867e-01 3.23834692e-01 -7.33911159e-02 9.97516270e+01] [-3.22670254e-01 9.46110908e-01 2.75328354e-02 -3.84821169e+01] [ 7.83522226e-02 -2.28957121e-03 9.96923110e-01 -6.11126310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:-38.49, Z:-6.11 [[ 9.43513378e-01 3.23150545e-01 -7.31862787e-02 9.97832651e+01] [-3.22261573e-01 9.46347077e-01 2.39726416e-02 -3.84909031e+01] [ 7.70063932e-02 9.66617266e-04 9.97030130e-01 -6.11166993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:-38.50, Z:-6.11 [[ 9.43791908e-01 3.22554862e-01 -7.22163124e-02 9.98146867e+01] [-3.21914646e-01 9.46543333e-01 2.06562229e-02 -3.84989929e+01] [ 7.50186342e-02 3.75231262e-03 9.97175072e-01 -6.11217994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.84, Y:-38.51, Z:-6.11 [[ 9.44059670e-01 3.22392815e-01 -6.93845258e-02 9.98441191e+01] [-3.21577669e-01 9.46605736e-01 2.29212526e-02 -3.85107839e+01] [ 7.30694373e-02 6.73483890e-04 9.97326628e-01 -6.11034198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-38.52, Z:-6.10 [[ 9.44083211e-01 3.22552330e-01 -6.83146013e-02 9.98740187e+01] [-3.21320525e-01 9.46538092e-01 2.86139998e-02 -3.85245372e+01] [ 7.38918847e-02 -5.06311321e-03 9.97253405e-01 -6.10469115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:-38.54, Z:-6.10 [[ 9.44302004e-01 3.21868340e-01 -6.85163977e-02 9.99051579e+01] [-3.20637896e-01 9.46771244e-01 2.85578538e-02 -3.85352703e+01] [ 7.40612241e-02 -4.99828497e-03 9.97241171e-01 -6.10160863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-38.55, Z:-6.10 [[ 9.44617925e-01 3.20903172e-01 -6.86886524e-02 9.99339810e+01] [-3.19631630e-01 9.47096042e-01 2.90638518e-02 -3.85452205e+01] [ 7.43814331e-02 -5.49916944e-03 9.97214702e-01 -6.09863268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:-38.55, Z:-6.10 [[ 9.44673973e-01 3.19523897e-01 -7.41320758e-02 9.99651389e+01] [-3.18629746e-01 9.47577654e-01 2.39097235e-02 -3.85530213e+01] [ 7.78856265e-02 1.03379094e-03 9.96961765e-01 -6.09747657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:-38.55, Z:-6.11 [[ 9.46384934e-01 3.14322094e-01 -7.45464805e-02 9.99957163e+01] [-3.14961112e-01 9.49098735e-01 3.33013737e-03 -3.85474950e+01] [ 7.17987061e-02 2.03276506e-02 9.97211980e-01 -6.11013067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.02, Y:-38.58, Z:-6.09 [[ 9.45289074e-01 3.19209409e-01 -6.73343940e-02 1.00020606e+02] [-3.16941306e-01 9.47500332e-01 4.23240963e-02 -3.85821896e+01] [ 7.73096104e-02 -1.86674550e-02 9.96832358e-01 -6.08707187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64361786499998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:100.05, Y:-38.57, Z:-6.10 [[ 9.46882301e-01 3.13639511e-01 -7.10222838e-02 1.00054133e+02] [-3.13670719e-01 9.49468070e-01 1.10028694e-02 -3.85726540e+01] [ 7.08843253e-02 1.18591886e-02 9.97414042e-01 -6.10245365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:-38.60, Z:-6.08 [[ 9.46100246e-01 3.17186849e-01 -6.54738720e-02 1.00080017e+02] [-3.14883524e-01 9.48146790e-01 4.31975848e-02 -3.86031726e+01] [ 7.57805474e-02 -2.02526020e-02 9.96918824e-01 -6.08198699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-38.61, Z:-6.08 [[ 9.46716167e-01 3.14765856e-01 -6.81979177e-02 1.00114684e+02] [-3.13266616e-01 9.49127838e-01 3.19433046e-02 -3.86086876e+01] [ 7.47832038e-02 -8.87711197e-03 9.97160303e-01 -6.08399752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:-38.62, Z:-6.08 [[ 9.46473642e-01 3.15204480e-01 -6.95253979e-02 1.00145036e+02] [-3.13551603e-01 9.48968919e-01 3.38139360e-02 -3.86209001e+01] [ 7.66357458e-02 -1.02041992e-02 9.97006939e-01 -6.07856279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:-38.63, Z:-6.08 [[ 9.46284814e-01 3.15276348e-01 -7.17347505e-02 1.00176069e+02] [-3.14106231e-01 9.48994024e-01 2.73425955e-02 -3.86268903e+01] [ 7.66963232e-02 -3.34155079e-03 9.97048900e-01 -6.07806899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.21, Y:-38.63, Z:-6.08 [[ 9.45968984e-01 3.15556238e-01 -7.46119377e-02 1.00205495e+02] [-3.14977556e-01 9.48894449e-01 1.97094983e-02 -3.86321973e+01] [ 7.70183086e-02 4.85651165e-03 9.97017851e-01 -6.08018094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:-38.65, Z:-6.07 [[ 9.45902728e-01 3.17324957e-01 -6.76232282e-02 1.00231895e+02] [-3.15279043e-01 9.48183973e-01 3.93227517e-02 -3.86530686e+01] [ 7.65973516e-02 -1.58753114e-02 9.96935715e-01 -6.06738032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-38.65, Z:-6.08 [[ 9.45967266e-01 3.15933952e-01 -7.30182874e-02 1.00266478e+02] [-3.15412573e-01 9.48767035e-01 1.88685541e-02 -3.86514524e+01] [ 7.52385609e-02 5.18185142e-03 9.97152098e-01 -6.07529289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:-38.67, Z:-6.07 [[ 9.45888177e-01 3.17201498e-01 -6.84015166e-02 1.00294555e+02] [-3.16064161e-01 9.48349502e-01 2.71416387e-02 -3.86655530e+01] [ 7.34779127e-02 -4.05368720e-03 9.97288606e-01 -6.07018844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:-38.67, Z:-6.08 [[ 9.45795133e-01 3.16915745e-01 -7.09646116e-02 1.00326034e+02] [-3.16617476e-01 9.48423175e-01 1.57116182e-02 -3.86686891e+01] [ 7.22837414e-02 7.60866418e-03 9.97355087e-01 -6.07552042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:-38.67, Z:-6.08 [[ 9.45176942e-01 3.18443722e-01 -7.23473811e-02 1.00356848e+02] [-3.18559932e-01 9.47847450e-01 1.02362705e-02 -3.86730857e+01] [ 7.18339568e-02 1.33718900e-02 9.97326965e-01 -6.08024609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:-38.69, Z:-6.07 [[ 9.45228600e-01 3.19680983e-01 -6.59315070e-02 1.00387529e+02] [-3.18790723e-01 9.47523941e-01 2.38926132e-02 -3.86912150e+01] [ 7.01096954e-02 -1.56562858e-03 9.97538059e-01 -6.07422569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.42, Y:-38.70, Z:-6.07 [[ 9.44103253e-01 3.21939058e-01 -7.08822238e-02 1.00416652e+02] [-3.21518051e-01 9.46740166e-01 1.75840919e-02 -3.86968106e+01] [ 7.27680543e-02 6.18871612e-03 9.97329690e-01 -6.07474576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.45, Y:-38.71, Z:-6.07 [[ 9.43679989e-01 3.24469399e-01 -6.47123459e-02 1.00447586e+02] [-3.23463516e-01 9.45890197e-01 2.57505200e-02 -3.87122995e+01] [ 6.95660294e-02 -3.36816747e-03 9.97571663e-01 -6.07054083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:-38.72, Z:-6.07 [[ 9.42945983e-01 3.26639085e-01 -6.44963689e-02 1.00477459e+02] [-3.25498645e-01 9.45134940e-01 2.77592715e-02 -3.87240812e+01] [ 7.00250348e-02 -5.18201283e-03 9.97531775e-01 -6.06673739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:-38.73, Z:-6.07 [[ 9.42674411e-01 3.26518189e-01 -6.89262524e-02 1.00511629e+02] [-3.26122778e-01 9.45170357e-01 1.72316808e-02 -3.87297870e+01] [ 7.07735078e-02 6.23455637e-03 9.97472927e-01 -6.06964282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:-38.75, Z:-6.06 [[ 9.42780026e-01 3.27636575e-01 -6.18069363e-02 1.00541570e+02] [-3.26387538e-01 9.44772086e-01 2.96121845e-02 -3.87476874e+01] [ 6.80955028e-02 -7.74476230e-03 9.97648746e-01 -6.06396941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-38.76, Z:-6.06 [[ 9.42177104e-01 3.29394924e-01 -6.16546006e-02 1.00570923e+02] [-3.28074180e-01 9.44151888e-01 3.07334442e-02 -3.87588492e+01] [ 6.83347481e-02 -8.72906492e-03 9.97624261e-01 -6.06052578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:100.60, Y:-38.76, Z:-6.07 [[ 9.42356357e-01 3.27756042e-01 -6.73830264e-02 1.00604594e+02] [-3.27338499e-01 9.44745784e-01 1.74617253e-02 -3.87634989e+01] [ 6.93830161e-02 5.60189085e-03 9.97574366e-01 -6.06706642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:100.63, Y:-38.78, Z:-6.06 [[ 9.42405106e-01 3.28214458e-01 -6.44040814e-02 1.00633292e+02] [-3.27546622e-01 9.44602293e-01 2.09694750e-02 -3.87754360e+01] [ 6.77187278e-02 1.33359898e-03 9.97703561e-01 -6.06329141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-38.79, Z:-6.06 [[ 9.42537119e-01 3.27545783e-01 -6.58599962e-02 1.00661531e+02] [-3.26845363e-01 9.44834401e-01 2.14490804e-02 -3.87856922e+01] [ 6.92523459e-02 1.30947993e-03 9.97598315e-01 -6.06242517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.69, Y:-38.80, Z:-6.06 [[ 9.43474218e-01 3.25444196e-01 -6.27891362e-02 1.00692933e+02] [-3.24491761e-01 9.45555471e-01 2.50987614e-02 -3.87999161e+01] [ 6.75388575e-02 -3.30547689e-03 9.97711169e-01 -6.05946999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:-38.81, Z:-6.06 [[ 9.44259875e-01 3.22356559e-01 -6.67797678e-02 1.00722708e+02] [-3.21834264e-01 9.46610682e-01 1.87329184e-02 -3.88078464e+01] [ 6.92531207e-02 3.80327427e-03 9.97591871e-01 -6.06009090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-38.82, Z:-6.05 [[ 9.44404211e-01 3.21603032e-01 -6.83533132e-02 1.00750649e+02] [-3.20740332e-01 9.46874540e-01 2.35424220e-02 -3.88215559e+01] [ 7.22933263e-02 -3.09898090e-04 9.97383366e-01 -6.05496807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36361786499998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:100.78, Y:-38.83, Z:-6.06 [[ 9.45569053e-01 3.18481770e-01 -6.68470500e-02 1.00776435e+02] [-3.17893094e-01 9.47924959e-01 1.95512947e-02 -3.88272139e+01] [ 6.95927180e-02 2.76311639e-03 9.97571661e-01 -6.05500572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-38.85, Z:-6.05 [[ 9.46660721e-01 3.16413227e-01 -6.09602213e-02 1.00808734e+02] [-3.15051446e-01 9.48566837e-01 3.10409774e-02 -3.88485865e+01] [ 6.76466202e-02 -1.01796682e-02 9.97657411e-01 -6.04963442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:-38.86, Z:-6.05 [[ 9.47157758e-01 3.14919185e-01 -6.09761232e-02 1.00841492e+02] [-3.13702306e-01 9.49083124e-01 2.88459069e-02 -3.88598322e+01] [ 6.69555390e-02 -8.19327407e-03 9.97722319e-01 -6.04744882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.87, Y:-38.86, Z:-6.05 [[ 9.48325905e-01 3.11017993e-01 -6.28154918e-02 1.00867956e+02] [-3.10224321e-01 9.50402631e-01 2.22645572e-02 -3.88620884e+01] [ 6.66246865e-02 -1.62716306e-03 9.97776780e-01 -6.04719955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:-38.87, Z:-6.05 [[ 9.48654270e-01 3.10111058e-01 -6.23394535e-02 1.00898149e+02] [-3.09302285e-01 9.50698150e-01 2.24749424e-02 -3.88732102e+01] [ 6.62357313e-02 -2.03921469e-03 9.97801919e-01 -6.04570997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.93, Y:-38.88, Z:-6.04 [[ 9.48990931e-01 3.08966315e-01 -6.28969692e-02 1.00928623e+02] [-3.08139656e-01 9.51070552e-01 2.26882815e-02 -3.88849140e+01] [ 6.68293700e-02 -2.14992289e-03 9.97762102e-01 -6.04474137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:100.96, Y:-38.89, Z:-6.04 [[ 9.49216933e-01 3.07376227e-01 -6.71347148e-02 1.00960731e+02] [-3.06908301e-01 9.51579422e-01 1.74326627e-02 -3.88930025e+01] [ 6.92423992e-02 4.05682260e-03 9.97591616e-01 -6.04439430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57361786499997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:100.99, Y:-38.91, Z:-6.04 [[ 9.49208159e-01 3.07862061e-01 -6.49986272e-02 1.00990884e+02] [-3.06958465e-01 9.51427580e-01 2.37078328e-02 -3.89075991e+01] [ 6.91402288e-02 -2.55178950e-03 9.97603687e-01 -6.03983890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:-38.92, Z:-6.04 [[ 9.49466066e-01 3.06343404e-01 -6.83220913e-02 1.01023425e+02] [-3.05574043e-01 9.51921028e-01 2.16993255e-02 -3.89171868e+01] [ 7.16846806e-02 2.74684450e-04 9.97427306e-01 -6.03830739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.05, Y:-38.93, Z:-6.04 [[ 9.49002212e-01 3.07896983e-01 -6.77808940e-02 1.01052088e+02] [-3.07056793e-01 9.51419389e-01 2.27436411e-02 -3.89282064e+01] [ 7.14907552e-02 -7.71181781e-04 9.97440964e-01 -6.03728597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:101.08, Y:-38.94, Z:-6.04 [[ 9.48702825e-01 3.08368237e-01 -6.97995716e-02 1.01082719e+02] [-3.07652103e-01 9.51265887e-01 2.10569488e-02 -3.89376780e+01] [ 7.28912456e-02 1.49719817e-03 9.97338771e-01 -6.03608971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69361786499998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:101.11, Y:-38.95, Z:-6.03 [[ 9.48593668e-01 3.09437255e-01 -6.64728458e-02 1.01112979e+02] [-3.08292700e-01 9.50905593e-01 2.70954704e-02 -3.89523428e+01] [ 7.15937488e-02 -5.20949848e-03 9.97420271e-01 -6.03200737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:101.14, Y:-38.98, Z:-6.02 [[ 9.47640828e-01 3.13153083e-01 -6.25460425e-02 1.01141430e+02] [-3.10733808e-01 9.49407352e-01 4.54992309e-02 -3.89759261e+01] [ 7.36298971e-02 -2.36817589e-02 9.97004420e-01 -6.01982670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-38.96, Z:-6.04 [[ 9.47738160e-01 3.10904603e-01 -7.16289593e-02 1.01175654e+02] [-3.11218740e-01 9.50312400e-01 7.01704156e-03 -3.89641686e+01] [ 7.02515188e-02 1.56419564e-02 9.97406664e-01 -6.03603125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78361786499998 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:101.20, Y:-38.98, Z:-6.03 [[ 9.47525298e-01 3.13047444e-01 -6.47850898e-02 1.01201197e+02] [-3.12185002e-01 9.49735692e-01 2.32946187e-02 -3.89834361e+01] [ 6.88210330e-02 -1.84730711e-03 9.97627312e-01 -6.02845743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:-39.00, Z:-6.02 [[ 9.46130702e-01 3.18617995e-01 -5.76130816e-02 1.01226931e+02] [-3.17300924e-01 9.47819168e-01 3.09668795e-02 -3.89986452e+01] [ 6.44733882e-02 -1.10180314e-02 9.97858600e-01 -6.02451760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:101.26, Y:-39.00, Z:-6.03 [[ 9.45239588e-01 3.18814259e-01 -6.98540564e-02 1.01263566e+02] [-3.18967865e-01 9.47720448e-01 9.24411603e-03 -3.89979237e+01] [ 6.91492736e-02 1.35432948e-02 9.97514389e-01 -6.02930263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.29, Y:-39.03, Z:-6.02 [[ 9.44723259e-01 3.23084227e-01 -5.58081136e-02 1.01289410e+02] [-3.21101246e-01 9.46126685e-01 4.16927541e-02 -3.90272511e+01] [ 6.62718168e-02 -2.14680598e-02 9.97570633e-01 -6.01585475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:-39.03, Z:-6.02 [[ 9.43482592e-01 3.25191677e-01 -6.39607062e-02 1.01323855e+02] [-3.24667555e-01 9.45643015e-01 1.87154199e-02 -3.90253102e+01] [ 6.65700939e-02 3.10829319e-03 9.97776909e-01 -6.02336226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:-39.05, Z:-6.01 [[ 9.43297206e-01 3.27332063e-01 -5.51733745e-02 1.01351671e+02] [-3.25743094e-01 9.44775166e-01 3.59349790e-02 -3.90458813e+01] [ 6.38891049e-02 -1.59250196e-02 9.97829933e-01 -6.01335623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.39, Y:-39.03, Z:-6.03 [[ 9.43295552e-01 3.24664968e-01 -6.91820848e-02 1.01386504e+02] [-3.25557118e-01 9.45520808e-01 -1.72151919e-03 -3.90337839e+01] [ 6.48541838e-02 2.41466216e-02 9.97602564e-01 -6.02845430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.41, Y:-39.06, Z:-6.01 [[ 9.42956147e-01 3.28870994e-01 -5.17452867e-02 1.01407322e+02] [-3.27522815e-01 9.44269725e-01 3.29164510e-02 -3.90631990e+01] [ 5.96867735e-02 -1.40910078e-02 9.98117695e-01 -6.01401628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.44, Y:-39.07, Z:-6.02 [[ 9.42531254e-01 3.29182302e-01 -5.72175425e-02 1.01440837e+02] [-3.28534960e-01 9.44266158e-01 2.06447130e-02 -3.90684086e+01] [ 6.08244631e-02 -6.60324218e-04 9.98148260e-01 -6.01708725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.47, Y:-39.08, Z:-6.02 [[ 9.42556445e-01 3.29100256e-01 -5.72745092e-02 1.01470924e+02] [-3.28450399e-01 9.44294739e-01 2.06828622e-02 -3.90795698e+01] [ 6.08907530e-02 -6.82929683e-04 9.98144203e-01 -6.01564336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:-39.10, Z:-6.01 [[ 9.41964804e-01 3.30717725e-01 -5.76896467e-02 1.01500341e+02] [-3.29665814e-01 9.43706867e-01 2.71624850e-02 -3.90964807e+01] [ 6.34252310e-02 -6.56780050e-03 9.97964981e-01 -6.01030279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:-39.11, Z:-6.01 [[ 9.42823936e-01 3.28485895e-01 -5.63918693e-02 1.01533044e+02] [-3.27399768e-01 9.44477180e-01 2.77893639e-02 -3.91093826e+01] [ 6.23892478e-02 -7.73779250e-03 9.98021898e-01 -6.00753492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14361786499998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:101.56, Y:-39.11, Z:-6.01 [[ 9.43512732e-01 3.25691293e-01 -6.09007896e-02 1.01563994e+02] [-3.25636772e-01 9.45429822e-01 1.10970832e-02 -3.91104807e+01] [ 6.11916460e-02 9.36129720e-03 9.98082135e-01 -6.01330263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17361786499998 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:101.59, Y:-39.13, Z:-6.01 [[ 9.43783276e-01 3.25458449e-01 -5.78785466e-02 1.01590714e+02] [-3.24878619e-01 9.45556226e-01 1.94243853e-02 -3.91265269e+01] [ 6.10492504e-02 4.71092260e-04 9.98134644e-01 -6.00811577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.62, Y:-39.15, Z:-6.00 [[ 9.45463258e-01 3.21690315e-01 -5.11328580e-02 1.01619584e+02] [-3.20319692e-01 9.46724753e-01 3.32796783e-02 -3.91476242e+01] [ 5.91144926e-02 -1.50858518e-02 9.98137212e-01 -6.00059636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:-39.14, Z:-6.01 [[ 9.46879379e-01 3.16357439e-01 -5.77703498e-02 1.01652909e+02] [-3.16637603e-01 9.48536008e-01 4.47990117e-03 -3.91413240e+01] [ 5.62145070e-02 1.40503390e-02 9.98319847e-01 -6.01324700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.68, Y:-39.15, Z:-6.01 [[ 9.47161753e-01 3.14937150e-01 -6.08210979e-02 1.01683433e+02] [-3.15162217e-01 9.49018162e-01 6.10770802e-03 -3.91537018e+01] [ 5.96438707e-02 1.33835246e-02 9.98129997e-01 -6.01208104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.71, Y:-39.18, Z:-6.00 [[ 9.48007028e-01 3.14721061e-01 -4.72581030e-02 1.01706446e+02] [-3.13413006e-01 9.49039357e-01 3.31147488e-02 -3.91790011e+01] [ 5.52717086e-02 -1.65817104e-02 9.98333654e-01 -5.99992746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:101.74, Y:-39.19, Z:-5.99 [[ 9.47238352e-01 3.16617187e-01 -4.99305740e-02 1.01737865e+02] [-3.15081037e-01 9.48369684e-01 3.63164157e-02 -3.91946375e+01] [ 5.88510441e-02 -1.86681248e-02 9.98092208e-01 -5.99375880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:-39.19, Z:-6.01 [[ 9.47018701e-01 3.15034107e-01 -6.25227273e-02 1.01771519e+02] [-3.15364873e-01 9.48958534e-01 4.76421023e-03 -3.91873470e+01] [ 6.08323643e-02 1.52056758e-02 9.98032169e-01 -6.00600413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.80, Y:-39.21, Z:-6.00 [[ 9.46930491e-01 3.17202050e-01 -5.20144637e-02 1.01798432e+02] [-3.15869051e-01 9.48251951e-01 3.23261530e-02 -3.92131697e+01] [ 5.95767386e-02 -1.41808606e-02 9.98122996e-01 -5.99511796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.83, Y:-39.21, Z:-6.00 [[ 9.46897375e-01 3.15812528e-01 -6.03970855e-02 1.01832255e+02] [-3.15874443e-01 9.48760455e-01 8.77122418e-03 -3.92106692e+01] [ 6.00724289e-02 1.07724466e-02 9.98135891e-01 -6.00435746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:101.86, Y:-39.23, Z:-6.00 [[ 9.46742822e-01 3.17185044e-01 -5.54227108e-02 1.01859753e+02] [-3.16547997e-01 9.48362428e-01 2.01512042e-02 -3.92267406e+01] [ 5.89524771e-02 -1.53405983e-03 9.98259612e-01 -5.99883232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:101.89, Y:-39.24, Z:-6.00 [[ 9.46541160e-01 3.18016842e-01 -5.40843824e-02 1.01890762e+02] [-3.17410643e-01 9.48083937e-01 1.96807431e-02 -3.92378884e+01] [ 5.75353420e-02 -1.46167481e-03 9.98342400e-01 -5.99897861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:-39.25, Z:-6.00 [[ 9.46235263e-01 3.19035411e-01 -5.34343887e-02 1.01920155e+02] [-3.18444337e-01 9.47741762e-01 1.94616459e-02 -3.92490897e+01] [ 5.68509559e-02 -1.39941711e-03 9.98381696e-01 -5.99683337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.95, Y:-39.26, Z:-6.00 [[ 9.46233418e-01 3.19084703e-01 -5.31720934e-02 1.01951391e+02] [-3.18678230e-01 9.47724797e-01 1.61831903e-02 -3.92582048e+01] [ 5.55563199e-02 1.63171318e-03 9.98454222e-01 -5.99737996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:-39.27, Z:-5.99 [[ 9.46107345e-01 3.19775317e-01 -5.12312144e-02 1.01981268e+02] [-3.19175594e-01 9.47490621e-01 1.97094725e-02 -3.92708294e+01] [ 5.48436980e-02 -2.29552346e-03 9.98492313e-01 -5.99425890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:-39.28, Z:-5.99 [[ 9.45677872e-01 3.20902579e-01 -5.21046731e-02 1.02010874e+02] [-3.20216852e-01 9.47106094e-01 2.12418056e-02 -3.92830525e+01] [ 5.61652036e-02 -3.40311110e-03 9.98415689e-01 -5.98884981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:-39.29, Z:-5.99 [[ 9.45792143e-01 3.20554722e-01 -5.21717494e-02 1.02042252e+02] [-3.19991375e-01 9.47229086e-01 1.90414951e-02 -3.92933145e+01] [ 5.55224397e-02 -1.31478666e-03 9.98456574e-01 -5.98919322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:-39.30, Z:-5.99 [[ 9.45838764e-01 3.20502771e-01 -5.16430674e-02 1.02071844e+02] [-3.19949808e-01 9.47246658e-01 1.88650346e-02 -3.93040789e+01] [ 5.49650188e-02 -1.32009153e-03 9.98487408e-01 -5.98619292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-39.32, Z:-5.98 [[ 9.46017079e-01 3.20129867e-01 -5.06809074e-02 1.02101364e+02] [-3.19596302e-01 9.47372742e-01 1.85227474e-02 -3.93151916e+01] [ 5.39433948e-02 -1.32540477e-03 9.98543115e-01 -5.98455075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:-39.33, Z:-5.98 [[ 9.46232187e-01 3.19632868e-01 -4.97943667e-02 1.02131869e+02] [-3.19116389e-01 9.47540514e-01 1.82127761e-02 -3.93264535e+01] [ 5.30035817e-02 -1.34331646e-03 9.98593419e-01 -5.98300468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.16, Y:-39.34, Z:-5.98 [[ 9.46383932e-01 3.19208190e-01 -4.96345160e-02 1.02163027e+02] [-3.18693640e-01 9.47683615e-01 1.81694477e-02 -3.93379929e+01] [ 5.28376540e-02 -1.37706875e-03 9.98602166e-01 -5.98101005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:-39.36, Z:-5.96 [[ 9.46238799e-01 3.20145679e-01 -4.62480143e-02 1.02189133e+02] [-3.18424561e-01 9.47064241e-01 4.09282546e-02 -3.93627421e+01] [ 5.69028444e-02 -2.40013989e-02 9.98091178e-01 -5.96455927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.23, Y:-39.35, Z:-5.99 [[ 9.47419223e-01 3.14748023e-01 -5.77104639e-02 1.02226640e+02] [-3.15428750e-01 9.48944971e-01 -2.85403707e-03 -3.93483147e+01] [ 5.38657520e-02 2.09075091e-02 9.98329283e-01 -5.98683297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:-39.37, Z:-5.98 [[ 9.47659047e-01 3.15232539e-01 -5.07028226e-02 1.02252779e+02] [-3.14688359e-01 9.49013008e-01 1.85888918e-02 -3.93704833e+01] [ 5.39774618e-02 -1.66034348e-03 9.98540774e-01 -5.97717913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.28, Y:-39.40, Z:-5.96 [[ 9.46937148e-01 3.17909307e-01 -4.73678238e-02 1.02278719e+02] [-3.15839730e-01 9.47679498e-01 4.63555083e-02 -3.93987717e+01] [ 5.96263630e-02 -2.89351121e-02 9.97801311e-01 -5.95621143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:-39.40, Z:-5.96 [[ 9.47622488e-01 3.14423260e-01 -5.61215958e-02 1.02313762e+02] [-3.13672767e-01 9.49277530e-01 2.19446280e-02 -3.93966233e+01] [ 6.01748713e-02 -3.19140670e-03 9.98182749e-01 -5.96404159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.34, Y:-39.41, Z:-5.96 [[ 9.47936516e-01 3.13499571e-01 -5.59855374e-02 1.02344146e+02] [-3.12716916e-01 9.49580809e-01 2.24592320e-02 -3.94078241e+01] [ 6.02037515e-02 -3.78230149e-03 9.98178943e-01 -5.96180045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-39.41, Z:-5.97 [[ 9.48709423e-01 3.08535367e-01 -6.89663595e-02 1.02381345e+02] [-3.09339697e-01 9.50951039e-01 -1.03611990e-03 -3.94052538e+01] [ 6.52639516e-02 2.23170095e-02 9.97618448e-01 -5.97269247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.40, Y:-39.44, Z:-5.95 [[ 9.49230642e-01 3.11173228e-01 -4.61780435e-02 1.02400365e+02] [-3.09149880e-01 9.49896401e-01 4.60779598e-02 -3.94410395e+01] [ 5.82025848e-02 -2.94626747e-02 9.97869936e-01 -5.95086198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-39.42, Z:-5.98 [[ 9.50441195e-01 3.05237945e-01 -5.90874896e-02 1.02439662e+02] [-3.06401813e-01 9.51832382e-01 -1.15345108e-02 -3.94185692e+01] [ 5.27206156e-02 2.90673881e-02 9.98186167e-01 -5.98002841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.46, Y:-39.46, Z:-5.95 [[ 9.49139986e-01 3.11458891e-01 -4.61155761e-02 1.02459611e+02] [-3.09681530e-01 9.49919179e-01 4.18438030e-02 -3.94586454e+01] [ 5.68386947e-02 -2.54344844e-02 9.98059342e-01 -5.94860529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.50, Y:-39.44, Z:-5.97 [[ 9.49415296e-01 3.08840418e-01 -5.68171842e-02 1.02497856e+02] [-3.09557023e-01 9.50872235e-01 -4.05501185e-03 -3.94419577e+01] [ 5.27735314e-02 2.14380487e-02 9.98376364e-01 -5.97364210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:102.52, Y:-39.47, Z:-5.96 [[ 9.48572699e-01 3.12885959e-01 -4.80854586e-02 1.02521174e+02] [-3.11756569e-01 9.49700322e-01 2.96165576e-02 -3.94694114e+01] [ 5.49333805e-02 -1.31025004e-02 9.98404051e-01 -5.95594735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.55, Y:-39.47, Z:-5.96 [[ 9.46977076e-01 3.17028003e-01 -5.22270335e-02 1.02554047e+02] [-3.16293900e-01 9.48406420e-01 2.19870888e-02 -3.94749038e+01] [ 5.65029767e-02 -4.30217689e-03 9.98393161e-01 -5.95635386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.59, Y:-39.48, Z:-5.96 [[ 9.46276324e-01 3.18909713e-01 -5.34575778e-02 1.02586228e+02] [-3.18433655e-01 9.47784950e-01 1.74268632e-02 -3.94828852e+01] [ 5.62238836e-02 5.32063795e-04 9.98418045e-01 -5.95724488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:-39.49, Z:-5.95 [[ 9.45584318e-01 3.21477127e-01 -5.02270198e-02 1.02613598e+02] [-3.20826236e-01 9.46910871e-01 2.07443782e-02 -3.94938693e+01] [ 5.42293541e-02 -3.50141304e-03 9.98522367e-01 -5.95485555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.65, Y:-39.49, Z:-5.97 [[ 9.45969192e-01 3.19675639e-01 -5.43118264e-02 1.02648211e+02] [-3.20146154e-01 9.47368164e-01 3.91256344e-05 -3.94910645e+01] [ 5.14658028e-02 1.73507107e-02 9.98524023e-01 -5.96564137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.67, Y:-39.52, Z:-5.95 [[ 9.44983601e-01 3.23543265e-01 -4.82260242e-02 1.02674096e+02] [-3.22846350e-01 9.46199921e-01 2.18161264e-02 -3.95152000e+01] [ 5.26899211e-02 -5.04628574e-03 9.98598171e-01 -5.95315874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.70, Y:-39.52, Z:-5.96 [[ 9.45541852e-01 3.22309590e-01 -4.54657573e-02 1.02702998e+02] [-3.21839170e-01 9.46632354e-01 1.75138759e-02 -3.95201231e+01] [ 4.86842470e-02 -1.92744105e-03 9.98812359e-01 -5.95664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:-39.53, Z:-5.95 [[ 9.44629875e-01 3.24274196e-01 -5.02060225e-02 1.02735445e+02] [-3.23819891e-01 9.45963130e-01 1.71591008e-02 -3.95338490e+01] [ 5.30572998e-02 4.87094803e-05 9.98591468e-01 -5.95128865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.77, Y:-39.54, Z:-5.96 [[ 9.45514931e-01 3.21775459e-01 -4.96192316e-02 1.02766336e+02] [-3.21685436e-01 9.46793704e-01 1.00081414e-02 -3.95375856e+01] [ 5.01995504e-02 6.49893701e-03 9.98718063e-01 -5.95716910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:-39.56, Z:-5.94 [[ 9.44325546e-01 3.25524113e-01 -4.77840384e-02 1.02794207e+02] [-3.24636283e-01 9.45494824e-01 2.55112197e-02 -3.95596292e+01] [ 5.34840782e-02 -8.57846387e-03 9.98531854e-01 -5.94481686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.83, Y:-39.57, Z:-5.95 [[ 9.44354986e-01 3.25040813e-01 -5.04195427e-02 1.02825121e+02] [-3.24512465e-01 9.45699269e-01 1.85621421e-02 -3.95668979e+01] [ 5.37151785e-02 -1.16748129e-03 9.98555615e-01 -5.94530715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:-39.58, Z:-5.94 [[ 9.44544086e-01 3.24591261e-01 -4.97692959e-02 1.02855080e+02] [-3.24075078e-01 9.45853633e-01 1.83371155e-02 -3.95779695e+01] [ 5.30265367e-02 -1.19122554e-03 9.98592393e-01 -5.94364953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-39.59, Z:-5.94 [[ 9.44607439e-01 3.24447935e-01 -4.95007378e-02 1.02886386e+02] [-3.23936648e-01 9.45902794e-01 1.82470125e-02 -3.95893541e+01] [ 5.27430917e-02 -1.20116072e-03 9.98607392e-01 -5.94178706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:-39.60, Z:-5.94 [[ 9.44569931e-01 3.24557885e-01 -4.94957031e-02 1.02917700e+02] [-3.24046034e-01 9.45865062e-01 1.82606590e-02 -3.96010109e+01] [ 5.27428972e-02 -1.20958309e-03 9.98607392e-01 -5.93987226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.95, Y:-39.61, Z:-5.94 [[ 9.44724086e-01 3.24118621e-01 -4.94319871e-02 1.02949010e+02] [-3.23607181e-01 9.46015638e-01 1.82429624e-02 -3.96121322e+01] [ 5.26763166e-02 -1.23802000e-03 9.98610872e-01 -5.93820761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:-39.63, Z:-5.93 [[ 9.44748829e-01 3.24500750e-01 -4.63563674e-02 1.02976514e+02] [-3.23134325e-01 9.45718960e-01 3.46389568e-02 -3.96315200e+01] [ 5.50804630e-02 -1.77457804e-02 9.98324211e-01 -5.92740662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:-39.63, Z:-5.94 [[ 9.45184830e-01 3.21898126e-01 -5.48382459e-02 1.03012462e+02] [-3.22243830e-01 9.46652968e-01 2.65939005e-03 -3.96253111e+01] [ 5.27688409e-02 1.51576713e-02 9.98491710e-01 -5.94092812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:103.04, Y:-39.66, Z:-5.92 [[ 9.45114922e-01 3.23447784e-01 -4.62527390e-02 1.03036002e+02] [-3.21789330e-01 9.45971197e-01 3.98763327e-02 -3.96565913e+01] [ 5.66516703e-02 -2.28040791e-02 9.98133539e-01 -5.92186374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.07, Y:-39.66, Z:-5.92 [[ 9.45096115e-01 3.22365548e-01 -5.36077185e-02 1.03069115e+02] [-3.21499615e-01 9.46597928e-01 2.42973182e-02 -3.96600991e+01] [ 5.85775736e-02 -5.72844021e-03 9.98266424e-01 -5.92464753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:-39.66, Z:-5.93 [[ 9.45600765e-01 3.20467506e-01 -5.60336514e-02 1.03101949e+02] [-3.20262599e-01 9.47241746e-01 1.28430178e-02 -3.96649884e+01] [ 5.71931836e-02 5.80111539e-03 9.98346276e-01 -5.92983086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:-39.68, Z:-5.93 [[ 9.46129833e-01 3.19240408e-01 -5.40731043e-02 1.03131460e+02] [-3.18920106e-01 9.47667837e-01 1.46845716e-02 -3.96765666e+01] [ 5.59312505e-02 3.35148889e-03 9.98428997e-01 -5.92944289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.16, Y:-39.69, Z:-5.92 [[ 9.46598750e-01 3.18019329e-01 -5.30519895e-02 1.03159978e+02] [-3.17229414e-01 9.48071721e-01 2.29240351e-02 -3.96906878e+01] [ 5.75873772e-02 -4.87021140e-03 9.98328591e-01 -5.92424134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:-39.69, Z:-5.93 [[ 9.46786171e-01 3.16723491e-01 -5.72902781e-02 1.03194150e+02] [-3.17031956e-01 9.48406990e-01 3.86279487e-03 -3.96915846e+01] [ 5.55579381e-02 1.45056082e-02 9.98350090e-01 -5.93259914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:-39.71, Z:-5.93 [[ 9.46639246e-01 3.18020245e-01 -5.23188400e-02 1.03221702e+02] [-3.17432529e-01 9.48082285e-01 1.94054351e-02 -3.97107728e+01] [ 5.57738866e-02 -1.76224469e-03 9.98441870e-01 -5.92514524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:-39.72, Z:-5.92 [[ 9.46502026e-01 3.18367336e-01 -5.26892161e-02 1.03252432e+02] [-3.17770884e-01 9.47965774e-01 1.95590717e-02 -3.97224025e+01] [ 5.61745431e-02 -1.76960223e-03 9.98419395e-01 -5.92346929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:-39.73, Z:-5.92 [[ 9.45903875e-01 3.20011350e-01 -5.34658372e-02 1.03282244e+02] [-3.19398822e-01 9.47412161e-01 1.98643099e-02 -3.97342198e+01] [ 5.70109890e-02 -1.71280230e-03 9.98372082e-01 -5.92096650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.31, Y:-39.75, Z:-5.92 [[ 9.45309230e-01 3.21287182e-01 -5.62583877e-02 1.03312428e+02] [-3.20610141e-01 9.46980214e-01 2.09191585e-02 -3.97456494e+01] [ 5.99966375e-02 -1.73806398e-03 9.98197066e-01 -5.91694992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:-39.75, Z:-5.92 [[ 9.44671498e-01 3.23316175e-01 -5.53390599e-02 1.03341771e+02] [-3.22858024e-01 9.46289732e-01 1.72753860e-02 -3.97548021e+01] [ 5.79521959e-02 1.54709475e-03 9.98318160e-01 -5.91837727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.37, Y:-39.78, Z:-5.91 [[ 9.43558409e-01 3.27461199e-01 -4.96658059e-02 1.03370475e+02] [-3.25944757e-01 9.44692225e-01 3.62851904e-02 -3.97764688e+01] [ 5.88008926e-02 -1.80488875e-02 9.98106554e-01 -5.90661803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.41, Y:-39.77, Z:-5.92 [[ 9.43245180e-01 3.27131431e-01 -5.72150110e-02 1.03405759e+02] [-3.27304069e-01 9.44896068e-01 6.59298195e-03 -3.97711471e+01] [ 5.62190105e-02 1.25079074e-02 9.98340110e-01 -5.91803043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:103.43, Y:-39.79, Z:-5.91 [[ 9.42815200e-01 3.29290019e-01 -5.16486337e-02 1.03433386e+02] [-3.28729025e-01 9.44228106e-01 1.92487067e-02 -3.97892091e+01] [ 5.51064986e-02 -1.16956823e-03 9.98479797e-01 -5.91133042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:-39.80, Z:-5.91 [[ 9.42473563e-01 3.29733291e-01 -5.49503387e-02 1.03465309e+02] [-3.29535282e-01 9.44055301e-01 1.28874633e-02 -3.97975785e+01] [ 5.61255842e-02 5.96198187e-03 9.98405916e-01 -5.91160572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:-39.82, Z:-5.90 [[ 9.42351529e-01 3.31129741e-01 -4.82357802e-02 1.03491688e+02] [-3.30243292e-01 9.43550092e-01 2.55458955e-02 -3.98162412e+01] [ 5.39718806e-02 -8.14367087e-03 9.98509247e-01 -5.90427764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:-39.83, Z:-5.90 [[ 9.42244804e-01 3.31429655e-01 -4.82608816e-02 1.03521187e+02] [-3.30262374e-01 9.43391027e-01 3.06616112e-02 -3.98310156e+01] [ 5.56910499e-02 -1.29519905e-02 9.98364038e-01 -5.89858686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:-39.83, Z:-5.91 [[ 9.42904700e-01 3.28525167e-01 -5.47899844e-02 1.03555083e+02] [-3.28607307e-01 9.44434756e-01 7.76076349e-03 -3.98297507e+01] [ 5.42951717e-02 1.06867289e-02 9.98467740e-01 -5.90642613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:-39.85, Z:-5.90 [[ 9.42728880e-01 3.30035185e-01 -4.83635844e-02 1.03581736e+02] [-3.29091555e-01 9.43924607e-01 2.65534326e-02 -3.98519461e+01] [ 5.44151444e-02 -9.11664056e-03 9.98476779e-01 -5.89665858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.61, Y:-39.85, Z:-5.90 [[ 9.42932349e-01 3.28901529e-01 -5.19843175e-02 1.03614001e+02] [-3.28791167e-01 9.44339679e-01 1.09059190e-02 -3.98542508e+01] [ 5.26778271e-02 6.80844063e-03 9.98588349e-01 -5.90184283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:-39.87, Z:-5.90 [[ 9.43197298e-01 3.28574237e-01 -4.91714075e-02 1.03642943e+02] [-3.28061341e-01 9.44477365e-01 1.83919703e-02 -3.98692184e+01] [ 5.24844090e-02 -1.21601882e-03 9.98621003e-01 -5.89781799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.67, Y:-39.88, Z:-5.90 [[ 9.43181880e-01 3.28375386e-01 -5.07695446e-02 1.03673516e+02] [-3.27827413e-01 9.44546432e-01 1.90059322e-02 -3.98812873e+01] [ 5.41952726e-02 -1.28240241e-03 9.98529533e-01 -5.89614442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.70, Y:-39.89, Z:-5.89 [[ 9.43341463e-01 3.27956938e-01 -5.05087287e-02 1.03702735e+02] [-3.27413099e-01 9.44691757e-01 1.89247472e-02 -3.98929396e+01] [ 5.39216818e-02 -1.31527937e-03 9.98544302e-01 -5.89397455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-39.90, Z:-5.89 [[ 9.43217042e-01 3.27922290e-01 -5.29960779e-02 1.03733226e+02] [-3.27322827e-01 9.44703674e-01 1.98679514e-02 -3.99045742e+01] [ 5.65807336e-02 -1.39296430e-03 9.98397055e-01 -5.89174201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:-39.92, Z:-5.89 [[ 9.43285825e-01 3.28020188e-01 -5.11332438e-02 1.03763694e+02] [-3.27461414e-01 9.44669743e-01 1.91858927e-02 -3.99156448e+01] [ 5.45973885e-02 -1.35361626e-03 9.98507533e-01 -5.89104383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:-39.93, Z:-5.89 [[ 9.43203977e-01 3.28154137e-01 -5.17795245e-02 1.03793853e+02] [-3.27580449e-01 9.44623186e-01 1.94444405e-02 -3.99267100e+01] [ 5.52929130e-02 -1.37811369e-03 9.98469226e-01 -5.88922879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:-39.94, Z:-5.89 [[ 9.43116477e-01 3.28369304e-01 -5.20087513e-02 1.03824776e+02] [-3.27790012e-01 9.44548400e-01 1.95455375e-02 -3.99379311e+01] [ 5.55429374e-02 -1.38576925e-03 9.98455338e-01 -5.88751546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:-39.95, Z:-5.89 [[ 9.43076380e-01 3.28480766e-01 -5.20319945e-02 1.03854278e+02] [-3.27900212e-01 9.44509629e-01 1.95706951e-02 -3.99486000e+01] [ 5.55733167e-02 -1.39535832e-03 9.98453634e-01 -5.88549483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.88, Y:-39.96, Z:-5.88 [[ 9.42882089e-01 3.29070825e-01 -5.18243046e-02 1.03884896e+02] [-3.28494950e-01 9.44304250e-01 1.95077211e-02 -3.99600925e+01] [ 5.53573329e-02 -1.36945844e-03 9.98465668e-01 -5.88372320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.92, Y:-39.97, Z:-5.88 [[ 9.43107893e-01 3.28546102e-01 -5.10388102e-02 1.03916161e+02] [-3.27985954e-01 9.44486907e-01 1.92275171e-02 -3.99700122e+01] [ 5.45226138e-02 -1.39361031e-03 9.98511564e-01 -5.88458358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-39.98, Z:-5.88 [[ 9.42284545e-01 3.30820112e-01 -5.15547166e-02 1.03945076e+02] [-3.30251035e-01 9.43692952e-01 1.94388078e-02 -3.99824130e+01] [ 5.50825713e-02 -1.29088962e-03 9.98480968e-01 -5.87952321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-39.99, Z:-5.88 [[ 9.42006599e-01 3.31615489e-01 -5.15241147e-02 1.03976300e+02] [-3.31047421e-01 9.43413793e-01 1.94427681e-02 -3.99939733e+01] [ 5.50560835e-02 -1.25829062e-03 9.98482471e-01 -5.87759341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-40.00, Z:-5.88 [[ 9.41619037e-01 3.32680966e-01 -5.17393897e-02 1.04006334e+02] [-3.32108856e-01 9.43038650e-01 1.95400159e-02 -4.00044804e+01] [ 5.52928356e-02 -1.21614140e-03 9.98469440e-01 -5.87576185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-40.01, Z:-5.88 [[ 9.41972318e-01 3.31575445e-01 -5.24011041e-02 1.04037384e+02] [-3.30986031e-01 9.43427794e-01 1.98051584e-02 -4.00147757e+01] [ 5.60035622e-02 -1.31187749e-03 9.98429707e-01 -5.87600775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:-40.03, Z:-5.87 [[ 9.41218970e-01 3.33761655e-01 -5.20577423e-02 1.04066015e+02] [-3.33182333e-01 9.42656746e-01 1.96924255e-02 -4.00275802e+01] [ 5.56451585e-02 -1.19016446e-03 9.98449899e-01 -5.87230671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:-40.04, Z:-5.87 [[ 9.41354917e-01 3.33341235e-01 -5.22928366e-02 1.04096246e+02] [-3.32755117e-01 9.42805438e-01 1.97974229e-02 -4.00400722e+01] [ 5.59012681e-02 -1.23569249e-03 9.98435537e-01 -5.87013867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:-40.05, Z:-5.87 [[ 9.41510039e-01 3.32890045e-01 -5.23742782e-02 1.04125609e+02] [-3.32300480e-01 9.42964782e-01 1.98446747e-02 -4.00514563e+01] [ 5.59931945e-02 -1.27996263e-03 9.98430330e-01 -5.86832946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.16, Y:-40.06, Z:-5.87 [[ 9.41584855e-01 3.32619939e-01 -5.27440652e-02 1.04155499e+02] [-3.32021001e-01 9.43060044e-01 1.99952099e-02 -4.00634272e+01] [ 5.63916260e-02 -1.31504951e-03 9.98407860e-01 -5.86636637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:-40.07, Z:-5.87 [[ 9.42733816e-01 3.29437501e-01 -5.21908609e-02 1.04186013e+02] [-3.28933200e-01 9.44177384e-01 1.82213299e-02 -4.00724378e+01] [ 5.52802200e-02 -1.05569707e-05 9.98470879e-01 -5.87029918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:-40.09, Z:-5.87 [[ 9.42589074e-01 3.29958118e-01 -5.15119263e-02 1.04216550e+02] [-3.29308051e-01 9.43991661e-01 2.08794677e-02 -4.00866452e+01] [ 5.55161787e-02 -2.71746609e-03 9.98454090e-01 -5.86672741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:-40.10, Z:-5.87 [[ 9.42582571e-01 3.29522739e-01 -5.43402319e-02 1.04245885e+02] [-3.29059443e-01 9.44146651e-01 1.75209989e-02 -4.00959874e+01] [ 5.70787155e-02 1.36617819e-03 9.98368746e-01 -5.86639409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:-40.11, Z:-5.86 [[ 9.42533878e-01 3.30497635e-01 -4.90020621e-02 1.04271242e+02] [-3.29659063e-01 9.43781033e-01 2.45410861e-02 -4.01107480e+01] [ 5.43579877e-02 -6.97683123e-03 9.98497137e-01 -5.86212084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:-40.12, Z:-5.86 [[ 9.43368573e-01 3.27813982e-01 -5.09286528e-02 1.04304259e+02] [-3.27500595e-01 9.44737874e-01 1.46187993e-02 -4.01181208e+01] [ 5.29064740e-02 2.88824822e-03 9.98595295e-01 -5.86410891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:-40.14, Z:-5.86 [[ 9.42864721e-01 3.29406172e-01 -4.99769070e-02 1.04332531e+02] [-3.28772149e-01 9.44183414e-01 2.06532207e-02 -4.01353065e+01] [ 5.39906650e-02 -3.04217809e-03 9.98536806e-01 -5.85510525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:-40.15, Z:-5.85 [[ 9.43349472e-01 3.27989246e-01 -5.01480699e-02 1.04362342e+02] [-3.27435241e-01 9.44680067e-01 1.91241849e-02 -4.01463259e+01] [ 5.36464090e-02 -1.62054431e-03 9.98558680e-01 -5.85330264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:-40.15, Z:-5.86 [[ 9.44477937e-01 3.24775662e-01 -4.98216479e-02 1.04394370e+02] [-3.24643023e-01 9.45773143e-01 1.09576149e-02 -4.01512032e+01] [ 5.06787432e-02 5.82502485e-03 9.98698019e-01 -5.86137655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:-40.17, Z:-5.85 [[ 9.44141034e-01 3.26309640e-01 -4.60404853e-02 1.04421460e+02] [-3.25443358e-01 9.45220007e-01 2.54118032e-02 -4.01710425e+01] [ 5.18105042e-02 -9.00875601e-03 9.98616300e-01 -5.85203425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:-40.18, Z:-5.85 [[ 9.43476963e-01 3.27118514e-01 -5.33357174e-02 1.04452942e+02] [-3.26708330e-01 9.44981464e-01 1.64833233e-02 -4.01771096e+01] [ 5.57932645e-02 1.87358730e-03 9.98440585e-01 -5.85222862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.48, Y:-40.19, Z:-5.85 [[ 9.43289341e-01 3.28118744e-01 -5.04312359e-02 1.04483215e+02] [-3.27594099e-01 9.44635956e-01 1.85746361e-02 -4.01910173e+01] [ 5.37338449e-02 -1.00028091e-03 9.98554792e-01 -5.84764250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.51, Y:-40.20, Z:-5.84 [[ 9.42909407e-01 3.29220855e-01 -5.03535426e-02 1.04512701e+02] [-3.28421881e-01 9.44235470e-01 2.36314538e-02 -4.02042503e+01] [ 5.53255684e-02 -5.74511491e-03 9.98451839e-01 -5.84380507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:-40.21, Z:-5.85 [[ 9.42898341e-01 3.29079247e-01 -5.14739552e-02 1.04543379e+02] [-3.28622851e-01 9.44302136e-01 1.73348797e-02 -4.02111872e+01] [ 5.43115150e-02 5.70488627e-04 9.98523877e-01 -5.84727486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:-40.23, Z:-5.84 [[ 9.41406028e-01 3.33714717e-01 -4.88792111e-02 1.04573209e+02] [-3.33073472e-01 9.42667780e-01 2.09646910e-02 -4.02262009e+01] [ 5.30730834e-02 -3.45591793e-03 9.98584651e-01 -5.84064793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:-40.23, Z:-5.84 [[ 9.41728806e-01 3.32768916e-01 -4.91091103e-02 1.04605783e+02] [-3.32238843e-01 9.43007341e-01 1.88283196e-02 -4.02343381e+01] [ 5.25757311e-02 -1.41521689e-03 9.98615937e-01 -5.84352615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-40.24, Z:-5.84 [[ 9.41032454e-01 3.34000427e-01 -5.38668327e-02 1.04634893e+02] [-3.33770511e-01 9.42558034e-01 1.34758800e-02 -4.02419111e+01] [ 5.52735656e-02 5.29791989e-03 9.98457192e-01 -5.84435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:-40.26, Z:-5.84 [[ 9.39182753e-01 3.39113937e-01 -5.41986593e-02 1.04665314e+02] [-3.38810602e-01 9.40735473e-01 1.49715210e-02 -4.02580323e+01] [ 5.60636529e-02 4.30208610e-03 9.98417928e-01 -5.83789573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-40.28, Z:-5.83 [[ 9.38989050e-01 3.40994606e-01 -4.49693634e-02 1.04690906e+02] [-3.39913529e-01 9.39976198e-01 3.00589405e-02 -4.02779946e+01] [ 5.25200678e-02 -1.29393210e-02 9.98536037e-01 -5.82970119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:-40.29, Z:-5.83 [[ 9.38828522e-01 3.40978086e-01 -4.83213276e-02 1.04724025e+02] [-3.40473693e-01 9.40070736e-01 1.85654384e-02 -4.02854077e+01] [ 5.17558736e-02 -9.77622207e-04 9.98659288e-01 -5.83161459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-40.30, Z:-5.83 [[ 9.38859877e-01 3.40918173e-01 -4.81344969e-02 1.04754518e+02] [-3.40416824e-01 9.40092451e-01 1.85086288e-02 -4.02979157e+01] [ 5.15608051e-02 -9.91216362e-04 9.98669365e-01 -5.82933831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:-40.31, Z:-5.83 [[ 9.39057200e-01 3.40479156e-01 -4.73869105e-02 1.04784817e+02] [-3.39991966e-01 9.40251518e-01 1.82358194e-02 -4.03104476e+01] [ 5.07645309e-02 -1.01330861e-03 9.98710136e-01 -5.82752985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-40.32, Z:-5.83 [[ 9.39016546e-01 3.40591989e-01 -4.73816712e-02 1.04815965e+02] [-3.40104258e-01 9.40210643e-01 1.82494220e-02 -4.03225440e+01] [ 5.07643584e-02 -1.02180113e-03 9.98710136e-01 -5.82566101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-40.34, Z:-5.82 [[ 9.39544623e-01 3.39270538e-01 -4.63832246e-02 1.04846605e+02] [-3.38801289e-01 9.40688230e-01 1.78701053e-02 -4.03352890e+01] [ 4.96949537e-02 -1.07506506e-03 9.98763864e-01 -5.82360233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-40.34, Z:-5.83 [[ 9.41373630e-01 3.33863873e-01 -4.84830200e-02 1.04877698e+02] [-3.33926007e-01 9.42572910e-01 7.05206520e-03 -4.03357523e+01] [ 4.80532111e-02 9.55111307e-03 9.98799112e-01 -5.83282383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.90, Y:-40.36, Z:-5.82 [[ 9.40152466e-01 3.38250313e-01 -4.12318620e-02 1.04904421e+02] [-3.37358210e-01 9.40984311e-01 2.71655227e-02 -4.03645411e+01] [ 4.79872818e-02 -1.16298260e-02 9.98780240e-01 -5.81631529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.94, Y:-40.37, Z:-5.82 [[ 9.40525706e-01 3.35861681e-01 -5.10717823e-02 1.04939182e+02] [-3.35967851e-01 9.41849274e-01 6.74893205e-03 -4.03661905e+01] [ 5.03686288e-02 1.08109329e-02 9.98672181e-01 -5.82317871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.97, Y:-40.39, Z:-5.81 [[ 9.41729130e-01 3.33710012e-01 -4.22359146e-02 1.04966182e+02] [-3.32740260e-01 9.42590031e-01 2.84245152e-02 -4.03863796e+01] [ 4.92966974e-02 -1.27146048e-02 9.98703246e-01 -5.81240227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.00, Y:-40.39, Z:-5.82 [[ 9.40878892e-01 3.34888660e-01 -5.09558222e-02 1.04998607e+02] [-3.34992767e-01 9.42196607e-01 6.73790385e-03 -4.03901111e+01] [ 5.02668504e-02 1.07302804e-02 9.98678179e-01 -5.81917178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-40.41, Z:-5.81 [[ 9.41196022e-01 3.35026441e-01 -4.36730081e-02 1.05024432e+02] [-3.34371778e-01 9.42190526e-01 2.17376960e-02 -4.04099372e+01] [ 4.84309974e-02 -5.85641160e-03 9.98809362e-01 -5.81161822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.06, Y:-40.42, Z:-5.81 [[ 9.41516847e-01 3.33575380e-01 -4.76811551e-02 1.05055872e+02] [-3.33233530e-01 9.42722081e-01 1.51819685e-02 -4.04184785e+01] [ 5.00144087e-02 1.59488051e-03 9.98747223e-01 -5.81328842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.08, Y:-40.44, Z:-5.80 [[ 9.42363179e-01 3.32406958e-01 -3.81739797e-02 1.05077585e+02] [-3.31050473e-01 9.42856395e-01 3.77809732e-02 -4.04370322e+01] [ 4.85512393e-02 -2.29658840e-02 9.98556631e-01 -5.80400060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:-40.44, Z:-5.81 [[ 9.42351647e-01 3.30830064e-01 -5.02478082e-02 1.05117271e+02] [-3.30849855e-01 9.43648088e-01 8.16457767e-03 -4.04351319e+01] [ 5.01173359e-02 8.93057683e-03 9.98703408e-01 -5.81411750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:-40.45, Z:-5.81 [[ 9.41654105e-01 3.33348850e-01 -4.65412827e-02 1.05146044e+02] [-3.33079927e-01 9.42799828e-01 1.36471978e-02 -4.04544820e+01] [ 4.84283910e-02 2.65102723e-03 9.98823139e-01 -5.80956651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:-40.46, Z:-5.81 [[ 9.42423767e-01 3.31225550e-01 -4.61202621e-02 1.05172472e+02] [-3.30854180e-01 9.43551488e-01 1.56876376e-02 -4.04617105e+01] [ 4.87129883e-02 4.74678964e-04 9.98812705e-01 -5.81212219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:-40.48, Z:-5.80 [[ 9.41966177e-01 3.33539315e-01 -3.80952259e-02 1.05196746e+02] [-3.32355828e-01 9.42532880e-01 3.42253496e-02 -4.04836868e+01] [ 4.73215027e-02 -1.95779514e-02 9.98687829e-01 -5.80051960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-40.48, Z:-5.81 [[ 9.41085217e-01 3.32771670e-01 -6.01799795e-02 1.05241432e+02] [-3.33871304e-01 9.42576162e-01 -8.95157379e-03 -4.04787026e+01] [ 5.37453839e-02 2.85165620e-02 9.98147404e-01 -5.81393888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:-40.51, Z:-5.80 [[ 9.40425080e-01 3.37265066e-01 -4.30458321e-02 1.05260134e+02] [-3.36309791e-01 9.41335081e-01 2.79998330e-02 -4.05093778e+01] [ 4.99639173e-02 -1.18550104e-02 9.98680663e-01 -5.79816733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:-40.52, Z:-5.80 [[ 9.39949419e-01 3.38640187e-01 -4.26370042e-02 1.05290274e+02] [-3.37869642e-01 9.40877639e-01 2.43592676e-02 -4.05197467e+01] [ 4.83652307e-02 -8.49073003e-03 9.98793628e-01 -5.79733613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-40.53, Z:-5.80 [[ 9.39351063e-01 3.39760981e-01 -4.67124955e-02 1.05322870e+02] [-3.39427958e-01 9.40510379e-01 1.51290510e-02 -4.05270738e+01] [ 4.90738480e-02 1.64403683e-03 9.98793800e-01 -5.80010081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:-40.54, Z:-5.80 [[ 9.39857429e-01 3.38101292e-01 -4.85338016e-02 1.05353025e+02] [-3.37663964e-01 9.41109698e-01 1.71925475e-02 -4.05365308e+01] [ 5.14884539e-02 2.29572328e-04 9.98673563e-01 -5.80119793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.38, Y:-40.55, Z:-5.80 [[ 9.39174557e-01 3.40136629e-01 -4.75207784e-02 1.05381080e+02] [-3.39470736e-01 9.40366468e-01 2.16916163e-02 -4.05504650e+01] [ 5.20650597e-02 -4.24030056e-03 9.98634693e-01 -5.79708885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.41, Y:-40.56, Z:-5.79 [[ 9.38556013e-01 3.41565929e-01 -4.94502500e-02 1.05412086e+02] [-3.40893762e-01 9.39851251e-01 2.17041467e-02 -4.05630642e+01] [ 5.38892763e-02 -3.51327563e-03 9.98540737e-01 -5.79443327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:-40.58, Z:-5.79 [[ 9.38235919e-01 3.42862048e-01 -4.64647813e-02 1.05442411e+02] [-3.42382886e-01 9.39385092e-01 1.81551424e-02 -4.05755512e+01] [ 4.98730321e-02 -1.12506077e-03 9.98754932e-01 -5.79230982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.47, Y:-40.59, Z:-5.79 [[ 9.38557895e-01 3.41531802e-01 -4.96498268e-02 1.05472289e+02] [-3.40949574e-01 9.39868373e-01 2.00207023e-02 -4.05855584e+01] [ 5.35020085e-02 -1.86250089e-03 9.98566005e-01 -5.79205842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:-40.59, Z:-5.80 [[ 9.37965917e-01 3.42221464e-01 -5.57172195e-02 1.05506748e+02] [-3.42534988e-01 9.39496038e-01 4.12019547e-03 -4.05913748e+01] [ 5.37561263e-02 1.52204942e-02 9.98438088e-01 -5.79527723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:-40.61, Z:-5.79 [[ 9.38953926e-01 3.41052093e-01 -4.52658237e-02 1.05528755e+02] [-3.40086880e-01 9.39983619e-01 2.77796679e-02 -4.06106445e+01] [ 5.20234466e-02 -1.06895155e-02 9.98588652e-01 -5.78747044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:-40.62, Z:-5.79 [[ 9.39037166e-01 3.41156130e-01 -4.26813368e-02 1.05559794e+02] [-3.40469054e-01 9.39982356e-01 2.26714291e-02 -4.06208457e+01] [ 4.78542005e-02 -6.75764011e-03 9.98831472e-01 -5.78842300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.59, Y:-40.63, Z:-5.79 [[ 9.38798132e-01 3.40937212e-01 -4.91923245e-02 1.05590391e+02] [-3.40546405e-01 9.40085061e-01 1.63775686e-02 -4.06282058e+01] [ 5.18286920e-02 1.37703844e-03 9.98655041e-01 -5.78893774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:-40.64, Z:-5.79 [[ 9.37834544e-01 3.42875275e-01 -5.38786966e-02 1.05621660e+02] [-3.42832047e-01 9.39339892e-01 1.03322287e-02 -4.06405293e+01] [ 5.41530748e-02 8.78142292e-03 9.98494032e-01 -5.78615542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.65, Y:-40.66, Z:-5.78 [[ 9.38177177e-01 3.43418390e-01 -4.34441426e-02 1.05647554e+02] [-3.42356828e-01 9.39087173e-01 3.01178149e-02 -4.06634372e+01] [ 5.11408486e-02 -1.33824476e-02 9.98601784e-01 -5.77594300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-40.66, Z:-5.78 [[ 9.38012680e-01 3.42196758e-01 -5.50780482e-02 1.05682469e+02] [-3.42204409e-01 9.39576630e-01 9.58643495e-03 -4.06632904e+01] [ 5.50304938e-02 9.85575337e-03 9.98436031e-01 -5.78329652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28361786499998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:105.71, Y:-40.67, Z:-5.79 [[ 9.38886468e-01 3.40610208e-01 -4.97683300e-02 1.05709783e+02] [-3.40266520e-01 9.40201543e-01 1.54840027e-02 -4.06733554e+01] [ 5.20662701e-02 2.39677586e-03 9.98640756e-01 -5.78677660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.74, Y:-40.70, Z:-5.77 [[ 9.37344712e-01 3.45149231e-01 -4.75068371e-02 1.05736148e+02] [-3.44111198e-01 9.38487582e-01 2.87843970e-02 -4.06953672e+01] [ 5.45194892e-02 -1.06332677e-02 9.98456088e-01 -5.77319939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:-40.70, Z:-5.78 [[ 9.38310069e-01 3.41868875e-01 -5.19604413e-02 1.05769287e+02] [-3.41643884e-01 9.39733542e-01 1.34285276e-02 -4.06952010e+01] [ 5.34197652e-02 5.15184431e-03 9.98558855e-01 -5.78332002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37361786499997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.80, Y:-40.71, Z:-5.78 [[ 9.36456070e-01 3.45801203e-01 -5.89199146e-02 1.05802137e+02] [-3.45670964e-01 9.38269653e-01 1.27138997e-02 -4.07111704e+01] [ 5.96792496e-02 8.46089519e-03 9.98181747e-01 -5.77571857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.82, Y:-40.73, Z:-5.76 [[ 9.35870853e-01 3.49110139e-01 -4.76220346e-02 1.05824961e+02] [-3.47816813e-01 9.36965839e-01 3.34436993e-02 -4.07339204e+01] [ 5.62957542e-02 -1.47352391e-02 9.98305395e-01 -5.76469904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.86, Y:-40.73, Z:-5.77 [[ 9.35892329e-01 3.47045984e-01 -6.05362121e-02 1.05862064e+02] [-3.47088426e-01 9.37777468e-01 1.01510930e-02 -4.07333379e+01] [ 6.02923918e-02 1.15110885e-02 9.98114383e-01 -5.77187793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:105.88, Y:-40.75, Z:-5.77 [[ 9.36744785e-01 3.47195388e-01 -4.43234729e-02 1.05882185e+02] [-3.46150629e-01 9.37710475e-01 2.96446869e-02 -4.07506656e+01] [ 5.18550834e-02 -1.24269078e-02 9.98577299e-01 -5.77092237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49361786499998 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:105.92, Y:-40.76, Z:-5.76 [[ 9.35998260e-01 3.48433020e-01 -5.00168692e-02 1.05916021e+02] [-3.47584964e-01 9.37314159e-01 2.50371833e-02 -4.07629708e+01] [ 5.56053011e-02 -6.04964832e-03 9.98434501e-01 -5.76388491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499998 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:105.95, Y:-40.77, Z:-5.76 [[ 9.35431643e-01 3.48937012e-01 -5.66621926e-02 1.05947173e+02] [-3.48599729e-01 9.37134212e-01 1.60529383e-02 -4.07704879e+01] [ 5.87015436e-02 4.73599854e-03 9.98264343e-01 -5.76479905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.98, Y:-40.78, Z:-5.77 [[ 9.36715549e-01 3.45755845e-01 -5.49260927e-02 1.05979279e+02] [-3.45727687e-01 9.38278173e-01 1.03168192e-02 -4.07777884e+01] [ 5.51030544e-02 9.32554605e-03 9.98437123e-01 -5.77150332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:106.00, Y:-40.81, Z:-5.75 [[ 9.34424613e-01 3.51720626e-01 -5.60646409e-02 1.06002733e+02] [-3.50344950e-01 9.36037557e-01 3.30470475e-02 -4.08052122e+01] [ 6.41019377e-02 -1.12380108e-02 9.97880077e-01 -5.75065368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.04, Y:-40.80, Z:-5.77 [[ 9.36418337e-01 3.46415218e-01 -5.58318485e-02 1.06037185e+02] [-3.46260613e-01 9.38051999e-01 1.27293013e-02 -4.08027012e+01] [ 5.67828008e-02 7.41241892e-03 9.98359038e-01 -5.76648216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.07, Y:-40.82, Z:-5.76 [[ 9.36236928e-01 3.47223284e-01 -5.38182673e-02 1.06065435e+02] [-3.46611663e-01 9.37782266e-01 2.06101072e-02 -4.08191165e+01] [ 5.76261258e-02 -6.41904333e-04 9.98338028e-01 -5.76146800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:-40.85, Z:-5.74 [[ 9.33847812e-01 3.53488508e-01 -5.45356652e-02 1.06089338e+02] [-3.51511079e-01 9.35209904e-01 4.26895350e-02 -4.08479450e+01] [ 6.60925543e-02 -2.06956383e-02 9.97598850e-01 -5.73816209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:-40.83, Z:-5.76 [[ 9.35848153e-01 3.46773710e-01 -6.27393648e-02 1.06127734e+02] [-3.47363653e-01 9.37729142e-01 1.59676590e-03 -4.08339184e+01] [ 5.93862472e-02 2.02990445e-02 9.98028668e-01 -5.76414406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-40.87, Z:-5.73 [[ 9.33469233e-01 3.54457074e-01 -5.47300103e-02 1.06147371e+02] [-3.52341760e-01 9.34802614e-01 4.47141736e-02 -4.08734065e+01] [ 6.70110118e-02 -2.24556371e-02 9.97499508e-01 -5.73260472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.19, Y:-40.85, Z:-5.77 [[ 9.35927979e-01 3.46002802e-01 -6.57333921e-02 1.06189001e+02] [-3.47422503e-01 9.37641900e-01 -1.11924391e-02 -4.08495499e+01] [ 5.77617674e-02 3.33125765e-02 9.97774449e-01 -5.76917533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:-40.88, Z:-5.76 [[ 9.35790555e-01 3.48552320e-01 -5.29841170e-02 1.06210681e+02] [-3.47857592e-01 9.37286599e-01 2.21117149e-02 -4.08795382e+01] [ 5.73683923e-02 -2.26100666e-03 9.98350517e-01 -5.75537759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.24, Y:-40.89, Z:-5.75 [[ 9.35359773e-01 3.49381925e-01 -5.50850715e-02 1.06241298e+02] [-3.48834590e-01 9.36979958e-01 1.95700648e-02 -4.08915341e+01] [ 5.84510349e-02 9.10526897e-04 9.98289861e-01 -5.75408841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-40.92, Z:-5.73 [[ 9.32929386e-01 3.55407549e-01 -5.76908515e-02 1.06264570e+02] [-3.53081311e-01 9.34421028e-01 4.68073693e-02 -4.09236509e+01] [ 7.05432371e-02 -2.32984088e-02 9.97236600e-01 -5.72521246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-40.90, Z:-5.76 [[ 9.35042500e-01 3.47763431e-01 -6.89646253e-02 1.06305055e+02] [-3.48998489e-01 9.37101695e-01 -6.36149919e-03 -4.09020288e+01] [ 6.24145705e-02 3.00168221e-02 9.97598823e-01 -5.76029901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:-40.96, Z:-5.71 [[ 9.33417796e-01 3.55621169e-01 -4.75899353e-02 1.06317357e+02] [-3.52406730e-01 9.33618385e-01 6.45461723e-02 -4.09586247e+01] [ 6.73848238e-02 -4.34775324e-02 9.96779308e-01 -5.71211597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:-40.95, Z:-5.73 [[ 9.33288393e-01 3.53476765e-01 -6.34582793e-02 1.06356386e+02] [-3.52570115e-01 9.35442444e-01 2.53327445e-02 -4.09509676e+01] [ 6.83161044e-02 -1.26926355e-03 9.97662918e-01 -5.72581323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97361786499998 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:106.39, Y:-40.96, Z:-5.73 [[ 9.32700673e-01 3.53600071e-01 -7.09679150e-02 1.06388124e+02] [-3.53363589e-01 9.35344388e-01 1.62803701e-02 -4.09584084e+01] [ 7.21361810e-02 9.89276502e-03 9.97345730e-01 -5.72728207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00361786499998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:106.41, Y:-40.98, Z:-5.72 [[ 9.32419204e-01 3.56379999e-01 -5.98976131e-02 1.06413526e+02] [-3.54808205e-01 9.34266457e-01 3.54587684e-02 -4.09825192e+01] [ 6.85971267e-02 -1.18102721e-02 9.97574534e-01 -5.71807031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:106.45, Y:-40.99, Z:-5.72 [[ 9.31960505e-01 3.56910696e-01 -6.37524267e-02 1.06445741e+02] [-3.55999690e-01 9.34137890e-01 2.55073067e-02 -4.09900730e+01] [ 6.86573880e-02 -1.07595829e-03 9.97639717e-01 -5.72017341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06361786499998 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:106.47, Y:-41.00, Z:-5.72 [[ 9.31202820e-01 3.59026118e-01 -6.29408840e-02 1.06472874e+02] [-3.58179793e-01 9.33327427e-01 2.46404183e-02 -4.10024054e+01] [ 6.75910071e-02 -4.01074239e-04 9.97713032e-01 -5.71949153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:-41.02, Z:-5.72 [[ 9.31504711e-01 3.57994044e-01 -6.43369152e-02 1.06503825e+02] [-3.57060580e-01 9.33723202e-01 2.58596986e-02 -4.10156683e+01] [ 6.93304885e-02 -1.11625482e-03 9.97593122e-01 -5.71604723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-41.03, Z:-5.71 [[ 9.31443944e-01 3.58158888e-01 -6.42992231e-02 1.06532293e+02] [-3.57233583e-01 9.33660101e-01 2.57484467e-02 -4.10293510e+01] [ 6.92556541e-02 -1.01339286e-03 9.97598430e-01 -5.71498321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:-41.04, Z:-5.71 [[ 9.31339388e-01 3.58336381e-01 -6.48226981e-02 1.06562190e+02] [-3.57395086e-01 9.33591981e-01 2.59762512e-02 -4.10420532e+01] [ 6.98261869e-02 -1.02539211e-03 9.97558646e-01 -5.71231024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499997 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:106.60, Y:-41.04, Z:-5.72 [[ 9.30219363e-01 3.58450540e-01 -7.87727522e-02 1.06595939e+02] [-3.59058624e-01 9.33290285e-01 6.79323981e-03 -4.10433176e+01] [ 7.59528848e-02 2.19648328e-02 9.96869453e-01 -5.71644022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:-41.08, Z:-5.70 [[ 9.31194578e-01 3.60287641e-01 -5.54028300e-02 1.06617031e+02] [-3.58048816e-01 9.32547775e-01 4.64294293e-02 -4.10768095e+01] [ 6.83937355e-02 -2.33979151e-02 9.97383996e-01 -5.69977232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:-41.06, Z:-5.73 [[ 9.32356487e-01 3.54989309e-01 -6.85125646e-02 1.06657909e+02] [-3.56219606e-01 9.34381356e-01 -6.25096012e-03 -4.10565555e+01] [ 6.17978390e-02 3.02336420e-02 9.97630670e-01 -5.73477600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:-41.10, Z:-5.70 [[ 9.31324541e-01 3.60687395e-01 -5.03904963e-02 1.06670364e+02] [-3.58406059e-01 9.32279144e-01 4.89968852e-02 -4.10989944e+01] [ 6.46505677e-02 -2.75717424e-02 9.97526994e-01 -5.69968985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:-41.10, Z:-5.71 [[ 9.31118462e-01 3.59666288e-01 -6.04861240e-02 1.06706147e+02] [-3.58874049e-01 9.33080863e-01 2.38646160e-02 -4.10982071e+01] [ 6.50217426e-02 -5.13884290e-04 9.97883715e-01 -5.70779469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33361786499998 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:106.74, Y:-41.11, Z:-5.71 [[ 9.31978045e-01 3.57638683e-01 -5.92578764e-02 1.06736354e+02] [-3.56773932e-01 9.33857664e-01 2.49444354e-02 -4.11104132e+01] [ 6.42595171e-02 -2.10600063e-03 9.97930999e-01 -5.70556063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.77, Y:-41.12, Z:-5.70 [[ 9.32588469e-01 3.55947515e-01 -5.98340542e-02 1.06769533e+02] [-3.55200141e-01 9.34505915e-01 2.30554777e-02 -4.11219282e+01] [ 6.41218176e-02 -2.48208179e-04 9.97942048e-01 -5.70355048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39361786499998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:106.80, Y:-41.13, Z:-5.70 [[ 9.32502497e-01 3.55787228e-01 -6.20849503e-02 1.06799183e+02] [-3.55262101e-01 9.34559626e-01 1.96759912e-02 -4.11317684e+01] [ 6.50225544e-02 3.70851893e-03 9.97876903e-01 -5.70314453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:-41.15, Z:-5.70 [[ 9.34009616e-01 3.52708175e-01 -5.67712992e-02 1.06828114e+02] [-3.51670631e-01 9.35714934e-01 2.76646022e-02 -4.11470117e+01] [ 6.28792838e-02 -5.87420585e-03 9.98003852e-01 -5.69804605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45361786499998 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:106.86, Y:-41.15, Z:-5.70 [[ 9.34019140e-01 3.51757707e-01 -6.22475755e-02 1.06859867e+02] [-3.51324593e-01 9.36078091e-01 1.81338673e-02 -4.11531222e+01] [ 6.46473192e-02 4.93172494e-03 9.97895988e-01 -5.70031735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:-41.17, Z:-5.69 [[ 9.34859801e-01 3.50454873e-01 -5.67321286e-02 1.06887826e+02] [-3.49309341e-01 9.36548908e-01 2.93108614e-02 -4.11710632e+01] [ 6.34045473e-02 -7.58448354e-03 9.97959087e-01 -5.69384693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:-41.18, Z:-5.69 [[ 9.35181616e-01 3.49253780e-01 -5.87974678e-02 1.06920138e+02] [-3.48456889e-01 9.37026782e-01 2.36348377e-02 -4.11797431e+01] [ 6.33493585e-02 -1.61448303e-03 9.97990106e-01 -5.69421417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:-41.19, Z:-5.69 [[ 9.35169714e-01 3.49298056e-01 -5.87237147e-02 1.06950065e+02] [-3.48502109e-01 9.37010258e-01 2.36232312e-02 -4.11909390e+01] [ 6.32762718e-02 -1.62639188e-03 9.97994724e-01 -5.69240416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57361786499997 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:106.98, Y:-41.20, Z:-5.69 [[ 9.34972847e-01 3.49132436e-01 -6.27081935e-02 1.06982461e+02] [-3.48686288e-01 9.37061227e-01 1.82792306e-02 -4.11994668e+01] [ 6.51432890e-02 4.77490294e-03 9.97864496e-01 -5.69284657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:-41.22, Z:-5.69 [[ 9.34296294e-01 3.51861363e-01 -5.73063397e-02 1.07008195e+02] [-3.50661152e-01 9.36017421e-01 3.01354267e-02 -4.12163333e+01] [ 6.42432246e-02 -8.06031039e-03 9.97901718e-01 -5.68748827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:-41.23, Z:-5.69 [[ 9.33777325e-01 3.52852993e-01 -5.96210819e-02 1.07040375e+02] [-3.52037139e-01 9.35677657e-01 2.40244573e-02 -4.12257465e+01] [ 6.42632159e-02 -1.44465837e-03 9.97931938e-01 -5.68811308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499998 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:107.07, Y:-41.24, Z:-5.69 [[ 9.33128420e-01 3.53810158e-01 -6.39509517e-02 1.07070626e+02] [-3.53301661e-01 9.35306792e-01 1.94715299e-02 -4.12350916e+01] [ 6.67029846e-02 4.42453953e-03 9.97763066e-01 -5.68754075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:-41.25, Z:-5.69 [[ 9.32129085e-01 3.58021496e-01 -5.43688994e-02 1.07097003e+02] [-3.56924707e-01 9.33681973e-01 2.90297608e-02 -4.12547567e+01] [ 6.11565397e-02 -7.65388090e-03 9.98098841e-01 -5.68823106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:-41.26, Z:-5.69 [[ 9.30821361e-01 3.60859697e-01 -5.78953666e-02 1.07125938e+02] [-3.60409141e-01 9.32612654e-01 1.84089576e-02 -4.12584134e+01] [ 6.06370023e-02 3.73056837e-03 9.98152913e-01 -5.69284471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.16, Y:-41.26, Z:-5.70 [[ 9.30360291e-01 3.59350482e-01 -7.27802170e-02 1.07164579e+02] [-3.60427570e-01 9.32785478e-01 -1.79428686e-03 -4.12600922e+01] [ 6.72435516e-02 2.79013300e-02 9.97346389e-01 -5.69960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78361786499998 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:107.19, Y:-41.28, Z:-5.69 [[ 9.29821120e-01 3.62209117e-01 -6.50940852e-02 1.07187937e+02] [-3.62036429e-01 9.32045729e-01 1.48453194e-02 -4.12800625e+01] [ 6.60477742e-02 9.76293862e-03 9.97768699e-01 -5.68971271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:107.21, Y:-41.31, Z:-5.68 [[ 9.28928700e-01 3.66966419e-01 -4.92657883e-02 1.07210028e+02] [-3.65246612e-01 9.30025227e-01 4.05954454e-02 -4.13090216e+01] [ 6.07155912e-02 -1.97161121e-02 9.97960366e-01 -5.68157336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:107.24, Y:-41.31, Z:-5.69 [[ 9.28584523e-01 3.66508514e-01 -5.83291836e-02 1.07244754e+02] [-3.65836319e-01 9.30414415e-01 2.21991989e-02 -4.13124553e+01] [ 6.24065086e-02 7.25101305e-04 9.98050551e-01 -5.68554859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:-41.32, Z:-5.69 [[ 9.28095370e-01 3.67132144e-01 -6.20723168e-02 1.07275488e+02] [-3.66960385e-01 9.30122639e-01 1.45585810e-02 -4.13226363e+01] [ 6.30797902e-02 9.26632961e-03 9.97965468e-01 -5.68682711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:107.30, Y:-41.35, Z:-5.68 [[ 9.28669589e-01 3.67291819e-01 -5.16673404e-02 1.07300925e+02] [-3.66052667e-01 9.30042641e-01 3.20332745e-02 -4.13453755e+01] [ 5.98183894e-02 -1.08353601e-02 9.98150467e-01 -5.67700484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:-41.35, Z:-5.68 [[ 9.29164534e-01 3.65459970e-01 -5.56082699e-02 1.07334750e+02] [-3.64909641e-01 9.30825675e-01 2.01125946e-02 -4.13526431e+01] [ 5.91119536e-02 1.60408427e-03 9.98250071e-01 -5.68028349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499997 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:107.36, Y:-41.36, Z:-5.68 [[ 9.28744491e-01 3.65613777e-01 -6.13207746e-02 1.07361735e+02] [-3.65336319e-01 9.30736694e-01 1.60804214e-02 -4.13630316e+01] [ 6.29527186e-02 7.46810333e-03 9.97988568e-01 -5.67717594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.39, Y:-41.39, Z:-5.67 [[ 9.28299707e-01 3.68328568e-01 -5.09285709e-02 1.07388192e+02] [-3.67036800e-01 9.29618034e-01 3.30801638e-02 -4.13869843e+01] [ 5.95284874e-02 -1.20156466e-02 9.98154288e-01 -5.67221125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499998 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:107.43, Y:-41.37, Z:-5.69 [[ 9.28572184e-01 3.65220897e-01 -6.60862808e-02 1.07428753e+02] [-3.66727272e-01 9.30252653e-01 -1.18789483e-02 -4.13746760e+01] [ 5.71384979e-02 3.52661024e-02 9.97743200e-01 -5.69195582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05361786499998 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:107.44, Y:-41.42, Z:-5.65 [[ 9.27567017e-01 3.71193862e-01 -4.28316104e-02 1.07437325e+02] [-3.68618294e-01 9.27788567e-01 5.76968640e-02 -4.14219258e+01] [ 6.11554002e-02 -3.77291928e-02 9.97414921e-01 -5.65334567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08361786499998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:107.47, Y:-41.42, Z:-5.67 [[ 9.27193474e-01 3.71128533e-01 -5.07530603e-02 1.07474747e+02] [-3.70398037e-01 9.28576807e-01 2.34607557e-02 -4.14193731e+01] [ 5.58350705e-02 -2.95382562e-03 9.98435636e-01 -5.67226954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:107.51, Y:-41.43, Z:-5.68 [[ 9.28105917e-01 3.67915141e-01 -5.70776279e-02 1.07511536e+02] [-3.67875638e-01 9.29802883e-01 1.15807524e-02 -4.14261812e+01] [ 5.73316771e-02 1.02493040e-02 9.98302575e-01 -5.67576626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:107.54, Y:-41.44, Z:-5.67 [[ 9.27914217e-01 3.69386409e-01 -5.02880316e-02 1.07535410e+02] [-3.68583397e-01 9.29265365e-01 2.47419088e-02 -4.14437499e+01] [ 5.58702508e-02 -4.42303542e-03 9.98428241e-01 -5.67034332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:107.57, Y:-41.45, Z:-5.67 [[ 9.28495342e-01 3.67057770e-01 -5.62582717e-02 1.07572202e+02] [-3.66923599e-01 9.30159251e-01 1.30705611e-02 -4.14510523e+01] [ 5.71268029e-02 8.50653241e-03 9.98330690e-01 -5.67336134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:107.60, Y:-41.47, Z:-5.67 [[ 9.28545164e-01 3.67446469e-01 -5.27917705e-02 1.07602122e+02] [-3.66801922e-01 9.30044283e-01 2.17711303e-02 -4.14686384e+01] [ 5.70984092e-02 -8.51354864e-04 9.98368192e-01 -5.66770947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.63, Y:-41.48, Z:-5.67 [[ 9.28771133e-01 3.66513941e-01 -5.52423225e-02 1.07629636e+02] [-3.65752581e-01 9.30410842e-01 2.36793973e-02 -4.14784254e+01] [ 6.00768851e-02 -1.78771858e-03 9.98192152e-01 -5.66591578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.66, Y:-41.49, Z:-5.66 [[ 9.29100236e-01 3.65447872e-01 -5.67503632e-02 1.07661707e+02] [-3.64725512e-01 9.30831581e-01 2.29753809e-02 -4.14903216e+01] [ 6.12213343e-02 -6.48126611e-04 9.98124004e-01 -5.66347739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29361786499997 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:107.68, Y:-41.50, Z:-5.65 [[ 9.28820838e-01 3.66359964e-01 -5.54276753e-02 1.07684274e+02] [-3.65190059e-01 9.30439617e-01 3.03041360e-02 -4.15049974e+01] [ 6.26743271e-02 -7.90547701e-03 9.98002722e-01 -5.65409402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:107.72, Y:-41.52, Z:-5.66 [[ 9.30237436e-01 3.62695861e-01 -5.57676018e-02 1.07719993e+02] [-3.61869112e-01 9.31903573e-01 2.46267330e-02 -4.15161178e+01] [ 6.09020416e-02 -2.72813643e-03 9.98140020e-01 -5.65843132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.75, Y:-41.53, Z:-5.65 [[ 9.30409612e-01 3.62222624e-01 -5.59707444e-02 1.07748413e+02] [-3.60758911e-01 9.32013055e-01 3.47084128e-02 -4.15349167e+01] [ 6.47376368e-02 -1.21010962e-02 9.97828944e-01 -5.64917622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:-41.54, Z:-5.66 [[ 9.31245783e-01 3.58904938e-01 -6.29963278e-02 1.07782562e+02] [-3.58611442e-01 9.33344663e-01 1.62964287e-02 -4.15367714e+01] [ 6.46461551e-02 7.41522347e-03 9.97880699e-01 -5.65603265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:-41.56, Z:-5.65 [[ 9.31425813e-01 3.59318095e-01 -5.77621171e-02 1.07808410e+02] [-3.58240991e-01 9.33197433e-01 2.83891525e-02 -4.15555717e+01] [ 6.41041955e-02 -5.74963134e-03 9.97926648e-01 -5.64817960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:107.83, Y:-41.56, Z:-5.65 [[ 9.31742771e-01 3.58891110e-01 -5.52501562e-02 1.07833074e+02] [-3.57872324e-01 9.33359998e-01 2.76859843e-02 -4.15631815e+01] [ 6.15045393e-02 -6.02371399e-03 9.98088627e-01 -5.64847963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.86, Y:-41.57, Z:-5.65 [[ 9.31958229e-01 3.57647222e-01 -5.95174308e-02 1.07863037e+02] [-3.57122904e-01 9.33851956e-01 1.95896981e-02 -4.15689332e+01] [ 6.25866703e-02 2.99825743e-03 9.98035029e-01 -5.65015049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.89, Y:-41.58, Z:-5.64 [[ 9.32996827e-01 3.54469207e-01 -6.21972856e-02 1.07894672e+02] [-3.53802791e-01 9.35066187e-01 2.17901628e-02 -4.15799499e+01] [ 6.58825204e-02 1.67542049e-03 9.97825980e-01 -5.64193511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:-41.58, Z:-5.65 [[ 9.34535167e-01 3.50121179e-01 -6.37117019e-02 1.07930031e+02] [-3.50344972e-01 9.36586645e-01 7.99104496e-03 -4.15844445e+01] [ 6.24693632e-02 1.48531619e-02 9.97936352e-01 -5.65199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:-41.60, Z:-5.64 [[ 9.34912109e-01 3.50279191e-01 -5.69546975e-02 1.07954421e+02] [-3.49529025e-01 9.36644033e-01 2.29655603e-02 -4.16037109e+01] [ 6.13906354e-02 -1.56346053e-03 9.98112592e-01 -5.64382907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-41.62, Z:-5.64 [[ 9.35086751e-01 3.49683073e-01 -5.77452739e-02 1.07985522e+02] [-3.48546320e-01 9.36841725e-01 2.90352323e-02 -4.16195066e+01] [ 6.42513113e-02 -7.02355832e-03 9.97909033e-01 -5.63611520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:-41.63, Z:-5.63 [[ 9.36122981e-01 3.47395195e-01 -5.46840349e-02 1.08016016e+02] [-3.46419123e-01 9.37699159e-01 2.67222470e-02 -4.16297477e+01] [ 6.05603537e-02 -6.07171413e-03 9.98146070e-01 -5.63437982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.05, Y:-41.64, Z:-5.63 [[ 9.36021986e-01 3.47459501e-01 -5.59887233e-02 1.08046617e+02] [-3.46525031e-01 9.37682363e-01 2.59266225e-02 -4.16405641e+01] [ 6.15080897e-02 -4.86639461e-03 9.98094722e-01 -5.63048404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-41.65, Z:-5.63 [[ 9.35482482e-01 3.49312694e-01 -5.34150522e-02 1.08072472e+02] [-3.48222087e-01 9.36968907e-01 2.88209158e-02 -4.16524592e+01] [ 6.01157548e-02 -8.36116090e-03 9.98156394e-01 -5.62813791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:-41.66, Z:-5.62 [[ 9.34219217e-01 3.50967022e-01 -6.36914677e-02 1.08110356e+02] [-3.50319387e-01 9.36385024e-01 2.14339481e-02 -4.16587691e+01] [ 6.71623454e-02 2.28834976e-03 9.97739436e-01 -5.62488244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:-41.67, Z:-5.63 [[ 9.34374819e-01 3.50920215e-01 -6.16335884e-02 1.08141202e+02] [-3.50317774e-01 9.36402611e-01 2.06786428e-02 -4.16690813e+01] [ 6.49704069e-02 2.26973834e-03 9.97884610e-01 -5.62501643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:-41.68, Z:-5.62 [[ 9.33948113e-01 3.52504846e-01 -5.90021623e-02 1.08169945e+02] [-3.51600780e-01 9.35805235e-01 2.54057721e-02 -4.16828738e+01] [ 6.41701902e-02 -2.98246668e-03 9.97934513e-01 -5.62140538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:-41.70, Z:-5.61 [[ 9.33354829e-01 3.54782817e-01 -5.45702903e-02 1.08195792e+02] [-3.53152782e-01 9.34818100e-01 3.73929549e-02 -4.16987074e+01] [ 6.42796729e-02 -1.56292452e-02 9.97809526e-01 -5.61334635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:-41.70, Z:-5.62 [[ 9.32967369e-01 3.53875216e-01 -6.59106962e-02 1.08233482e+02] [-3.53760019e-01 9.35234381e-01 1.38022241e-02 -4.16964352e+01] [ 6.65262142e-02 1.04395445e-02 9.97730063e-01 -5.62147610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:-41.73, Z:-5.60 [[ 9.32014365e-01 3.58653068e-01 -5.21267720e-02 1.08252671e+02] [-3.56251796e-01 9.33048581e-01 5.00500025e-02 -4.17262691e+01] [ 6.65873976e-02 -2.80770652e-02 9.97385481e-01 -5.59699867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:-41.72, Z:-5.61 [[ 9.31915860e-01 3.57003572e-01 -6.38848917e-02 1.08289120e+02] [-3.56448683e-01 9.34094960e-01 2.02717226e-02 -4.17207237e+01] [ 6.69116327e-02 3.88014572e-03 9.97751361e-01 -5.61238131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.33, Y:-41.72, Z:-5.62 [[ 9.32419922e-01 3.54257401e-01 -7.13777452e-02 1.08325732e+02] [-3.54548525e-01 9.34994540e-01 8.97516618e-03 -4.17241710e+01] [ 6.99173211e-02 1.69382506e-02 9.97408975e-01 -5.61609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:-41.75, Z:-5.60 [[ 9.32016943e-01 3.58462380e-01 -5.33773377e-02 1.08346998e+02] [-3.56522558e-01 9.33315414e-01 4.25911076e-02 -4.17543232e+01] [ 6.50852019e-02 -2.06654089e-02 9.97665704e-01 -5.59924336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499997 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:108.38, Y:-41.75, Z:-5.60 [[ 9.31013536e-01 3.58180533e-01 -7.01462821e-02 1.08383113e+02] [-3.57823803e-01 9.33615244e-01 1.80195160e-02 -4.17501668e+01] [ 7.19438782e-02 8.32359608e-03 9.97373950e-01 -5.59985811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.41, Y:-41.77, Z:-5.59 [[ 9.30493085e-01 3.61845762e-01 -5.70110764e-02 1.08406131e+02] [-3.60021932e-01 9.32090089e-01 3.99033033e-02 -4.17741126e+01] [ 6.75783005e-02 -1.66045099e-02 9.97575793e-01 -5.59049528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:108.44, Y:-41.77, Z:-5.60 [[ 9.30247698e-01 3.60162796e-01 -7.01568305e-02 1.08444649e+02] [-3.59965881e-01 9.32830479e-01 1.58701800e-02 -4.17726099e+01] [ 7.11602782e-02 1.04908669e-02 9.97409723e-01 -5.59675523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:-41.78, Z:-5.60 [[ 9.31446290e-01 3.56412773e-01 -7.33331118e-02 1.08481195e+02] [-3.56354925e-01 9.34240964e-01 1.43174074e-02 -4.17785368e+01] [ 7.36137039e-02 1.27967195e-02 9.97204727e-01 -5.59772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:-41.81, Z:-5.58 [[ 9.30686985e-01 3.61222594e-01 -5.77925129e-02 1.08498028e+02] [-3.58908468e-01 9.32201959e-01 4.67356372e-02 -4.18055461e+01] [ 7.07562618e-02 -2.27540270e-02 9.97234078e-01 -5.58236323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-41.81, Z:-5.59 [[ 9.30635048e-01 3.60100406e-01 -6.51621496e-02 1.08532730e+02] [-3.58901863e-01 9.32904043e-01 2.96563612e-02 -4.18066837e+01] [ 7.14693005e-02 -4.21243218e-03 9.97433905e-01 -5.58557119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-41.82, Z:-5.58 [[ 9.30554516e-01 3.61181762e-01 -6.01334177e-02 1.08563816e+02] [-3.59759136e-01 9.32447711e-01 3.33860703e-02 -4.18193460e+01] [ 6.81297074e-02 -9.43401211e-03 9.97631867e-01 -5.58042024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:-41.83, Z:-5.58 [[ 9.30518346e-01 3.60773067e-01 -6.30745734e-02 1.08596321e+02] [-3.59802906e-01 9.32651535e-01 2.65138369e-02 -4.18286487e+01] [ 6.83920759e-02 -1.97719685e-03 9.97656561e-01 -5.58012386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:-41.84, Z:-5.58 [[ 9.30515153e-01 3.59934054e-01 -6.77423527e-02 1.08627836e+02] [-3.59372636e-01 9.32964018e-01 2.07231810e-02 -4.18357929e+01] [ 7.06601560e-02 5.06151396e-03 9.97487606e-01 -5.58025072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:-41.86, Z:-5.57 [[ 9.29671760e-01 3.63117747e-01 -6.20960572e-02 1.08651384e+02] [-3.61388732e-01 9.31660277e-01 3.75141635e-02 -4.18556581e+01] [ 7.14744884e-02 -1.24350430e-02 9.97364912e-01 -5.56707575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-41.86, Z:-5.57 [[ 9.31049488e-01 3.59110582e-01 -6.47027094e-02 1.08687571e+02] [-3.58344192e-01 9.33294085e-01 2.34859690e-02 -4.18580974e+01] [ 6.88207160e-02 1.31924067e-03 9.97628172e-01 -5.57480156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:-41.87, Z:-5.56 [[ 9.29948600e-01 3.62130720e-01 -6.36941303e-02 1.08715446e+02] [-3.60866801e-01 9.32110463e-01 3.07446871e-02 -4.18736190e+01] [ 7.05035610e-02 -5.60588170e-03 9.97495775e-01 -5.56462492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:-41.87, Z:-5.57 [[ 9.30381066e-01 3.59742170e-01 -7.05453207e-02 1.08749892e+02] [-3.59625848e-01 9.32979458e-01 1.47844649e-02 -4.18744532e+01] [ 7.11359305e-02 1.16147346e-02 9.97399006e-01 -5.57362873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-41.90, Z:-5.56 [[ 9.29818278e-01 3.63096564e-01 -5.99904579e-02 1.08773816e+02] [-3.61228255e-01 9.31623956e-01 3.98867376e-02 -4.19008243e+01] [ 7.03712851e-02 -1.54171692e-02 9.97401721e-01 -5.55666531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:-41.89, Z:-5.57 [[ 9.29530236e-01 3.60934500e-01 -7.54971980e-02 1.08811398e+02] [-3.61032097e-01 9.32465136e-01 1.28294554e-02 -4.18940135e+01] [ 7.50290981e-02 1.53315450e-02 9.97063478e-01 -5.56886713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:-41.92, Z:-5.56 [[ 9.29653813e-01 3.63558844e-01 -5.97390584e-02 1.08836948e+02] [-3.61976408e-01 9.31497740e-01 3.58474660e-02 -4.19188797e+01] [ 6.86794612e-02 -1.17016037e-02 9.97570150e-01 -5.55995636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:-41.92, Z:-5.56 [[ 9.28269116e-01 3.66258392e-01 -6.45851272e-02 1.08870545e+02] [-3.65195779e-01 9.30510122e-01 2.79813419e-02 -4.19244698e+01] [ 7.03455160e-02 -2.38799969e-03 9.97519827e-01 -5.56036991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:-41.94, Z:-5.55 [[ 9.26740163e-01 3.70783052e-01 -6.06019724e-02 1.08891704e+02] [-3.68940290e-01 9.28608619e-01 3.96118127e-02 -4.19396837e+01] [ 7.09629028e-02 -1.43513485e-02 9.97375709e-01 -5.55363581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-41.94, Z:-5.55 [[ 9.26112699e-01 3.70148877e-01 -7.28359605e-02 1.08931927e+02] [-3.69558012e-01 9.28948926e-01 2.19264368e-02 -4.19438913e+01] [ 7.57769332e-02 6.61076124e-03 9.97102880e-01 -5.55213204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:-41.95, Z:-5.55 [[ 9.25573963e-01 3.72353033e-01 -6.83085492e-02 1.08962506e+02] [-3.71562240e-01 9.28086993e-01 2.44138234e-02 -4.19549069e+01] [ 7.24868372e-02 2.78407824e-03 9.97365483e-01 -5.55416931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:-41.97, Z:-5.55 [[ 9.24702353e-01 3.74945294e-01 -6.58907059e-02 1.08990959e+02] [-3.73596352e-01 9.27032630e-01 3.21911287e-02 -4.19710062e+01] [ 7.31527466e-02 -5.15068510e-03 9.97307448e-01 -5.54818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:-41.98, Z:-5.55 [[ 9.23973252e-01 3.76146586e-01 -6.91894258e-02 1.09022361e+02] [-3.75397068e-01 9.26552502e-01 2.40312780e-02 -4.19781575e+01] [ 7.31469187e-02 3.76924950e-03 9.97314053e-01 -5.54826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:-41.99, Z:-5.55 [[ 9.23258565e-01 3.78093155e-01 -6.81115854e-02 1.09051923e+02] [-3.77296556e-01 9.25763034e-01 2.47004878e-02 -4.19877854e+01] [ 7.23942733e-02 2.89332970e-03 9.97371895e-01 -5.54732584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:-42.01, Z:-5.54 [[ 9.22609567e-01 3.80057429e-01 -6.59388976e-02 1.09078510e+02] [-3.78523069e-01 9.24934771e-01 3.48705590e-02 -4.20050261e+01] [ 7.42419941e-02 -7.21251744e-03 9.97214173e-01 -5.54044802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-42.01, Z:-5.54 [[ 9.22551922e-01 3.79648677e-01 -6.90277639e-02 1.09109623e+02] [-3.78568924e-01 9.25130699e-01 2.86139581e-02 -4.20137072e+01] [ 7.47229549e-02 -2.66095745e-04 9.97204297e-01 -5.54018994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-42.02, Z:-5.54 [[ 9.22962624e-01 3.78466176e-01 -7.00239131e-02 1.09140751e+02] [-3.77740372e-01 9.25604460e-01 2.38452223e-02 -4.20229250e+01] [ 7.38390564e-02 4.44260999e-03 9.97260275e-01 -5.54072146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:-42.03, Z:-5.54 [[ 9.24312568e-01 3.75336360e-01 -6.90571724e-02 1.09170423e+02] [-3.74642053e-01 9.26878268e-01 2.32380902e-02 -4.20343118e+01] [ 7.27296925e-02 4.39246205e-03 9.97342017e-01 -5.54055137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:-42.06, Z:-5.52 [[ 9.23166220e-01 3.78440384e-01 -6.74314940e-02 1.09195700e+02] [-3.76374532e-01 9.25534382e-01 4.15730541e-02 -4.20611566e+01] [ 7.81430887e-02 -1.29993422e-02 9.96857399e-01 -5.52315282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:-42.06, Z:-5.54 [[ 9.26048458e-01 3.70251338e-01 -7.31313898e-02 1.09231243e+02] [-3.70256089e-01 9.28824316e-01 1.39935189e-02 -4.20555186e+01] [ 7.31073322e-02 1.41186658e-02 9.97224138e-01 -5.53819116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:-42.08, Z:-5.53 [[ 9.28078741e-01 3.66167624e-01 -6.77578207e-02 1.09255131e+02] [-3.65157789e-01 9.30548783e-01 2.71799826e-02 -4.20765267e+01] [ 7.30043873e-02 -4.82868061e-04 9.97331503e-01 -5.53146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:-42.09, Z:-5.52 [[ 9.28404707e-01 3.65537194e-01 -6.66877861e-02 1.09282487e+02] [-3.63981503e-01 9.30763725e-01 3.45883460e-02 -4.20946599e+01] [ 7.47138991e-02 -7.83886268e-03 9.97174200e-01 -5.52405906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.31, Y:-42.11, Z:-5.51 [[ 9.28419133e-01 3.64979722e-01 -6.94817689e-02 1.09312165e+02] [-3.62977248e-01 9.30939261e-01 3.99951085e-02 -4.21148101e+01] [ 7.92807102e-02 -1.19119226e-02 9.96781157e-01 -5.51315338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:-42.12, Z:-5.52 [[ 9.29246542e-01 3.62401254e-01 -7.18762464e-02 1.09343824e+02] [-3.61360984e-01 9.32022054e-01 2.74432302e-02 -4.21210509e+01] [ 7.69357079e-02 4.71744310e-04 9.97035944e-01 -5.51683035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:-42.14, Z:-5.51 [[ 9.28975060e-01 3.63089418e-01 -7.19125333e-02 1.09373014e+02] [-3.61575504e-01 9.31740147e-01 3.35179578e-02 -4.21392016e+01] [ 7.91738101e-02 -5.13553639e-03 9.96847598e-01 -5.50887798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:-42.15, Z:-5.51 [[ 9.28486221e-01 3.63588939e-01 -7.56070143e-02 1.09402263e+02] [-3.62160311e-01 9.31555824e-01 3.23056602e-02 -4.21520852e+01] [ 8.21781352e-02 -2.61350056e-03 9.96614230e-01 -5.50570933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:-42.17, Z:-5.50 [[ 9.28781765e-01 3.63660087e-01 -7.15246350e-02 1.09432734e+02] [-3.62380408e-01 9.31528403e-01 3.05822619e-02 -4.21650495e+01] [ 7.77487771e-02 -2.48512076e-03 9.96969885e-01 -5.50398329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:-42.18, Z:-5.50 [[ 9.29009513e-01 3.63448042e-01 -6.96192843e-02 1.09462897e+02] [-3.62233495e-01 9.31611232e-01 2.97893887e-02 -4.21778759e+01] [ 7.56850022e-02 -2.45618887e-03 9.97128752e-01 -5.50271139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:-42.19, Z:-5.50 [[ 9.28257239e-01 3.64783364e-01 -7.26057518e-02 1.09491651e+02] [-3.63464177e-01 9.31089137e-01 3.10935996e-02 -4.21909213e+01] [ 7.89448546e-02 -2.47326911e-03 9.96875916e-01 -5.49814721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.52, Y:-42.20, Z:-5.50 [[ 9.27627515e-01 3.66901934e-01 -6.99297143e-02 1.09521784e+02] [-3.65683320e-01 9.30256975e-01 2.99611428e-02 -4.22027593e+01] [ 7.60454057e-02 -2.22065035e-03 9.97101883e-01 -5.49586083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:-42.21, Z:-5.50 [[ 9.26690547e-01 3.68053159e-01 -7.60361972e-02 1.09552402e+02] [-3.67287644e-01 9.29789173e-01 2.43286050e-02 -4.22115384e+01] [ 7.96518528e-02 5.38206741e-03 9.96808214e-01 -5.49734111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:-42.23, Z:-5.49 [[ 9.26316985e-01 3.70349881e-01 -6.91217011e-02 1.09578982e+02] [-3.68655684e-01 9.28856547e-01 3.63111780e-02 -4.22310589e+01] [ 7.76519850e-02 -8.15355293e-03 9.96947185e-01 -5.48946089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:-42.24, Z:-5.49 [[ 9.24912391e-01 3.72892464e-01 -7.40829220e-02 1.09609826e+02] [-3.71381038e-01 9.27867204e-01 3.37427893e-02 -4.22425033e+01] [ 8.13215456e-02 -3.69613151e-03 9.96681065e-01 -5.48592583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:-42.25, Z:-5.48 [[ 9.24064321e-01 3.74678826e-01 -7.56366775e-02 1.09639630e+02] [-3.73219215e-01 9.27151610e-01 3.31256734e-02 -4.22541953e+01] [ 8.25381558e-02 -2.38119151e-03 9.96585060e-01 -5.48424247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:-42.27, Z:-5.48 [[ 9.23953503e-01 3.75105241e-01 -7.48731133e-02 1.09669576e+02] [-3.73769194e-01 9.26981371e-01 3.16564102e-02 -4.22656769e+01] [ 8.12804666e-02 -1.26378783e-03 9.96690468e-01 -5.48238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:-42.27, Z:-5.48 [[ 9.24064659e-01 3.74785311e-01 -7.51031101e-02 1.09700023e+02] [-3.73838351e-01 9.27105804e-01 2.68275040e-02 -4.22736914e+01] [ 7.96830837e-02 3.28607454e-03 9.96814831e-01 -5.48493280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:-42.28, Z:-5.49 [[ 9.24451336e-01 3.74608365e-01 -7.11217246e-02 1.09729926e+02] [-3.73865711e-01 9.27172625e-01 2.39865454e-02 -4.22843375e+01] [ 7.49276766e-02 4.41558022e-03 9.97179194e-01 -5.48604364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-42.30, Z:-5.49 [[ 9.25140651e-01 3.72527043e-01 -7.30642018e-02 1.09759951e+02] [-3.71831547e-01 9.28004982e-01 2.34105411e-02 -4.22965332e+01] [ 7.65250030e-02 5.50953194e-03 9.97052440e-01 -5.48651283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:-42.31, Z:-5.49 [[ 9.25613652e-01 3.71470369e-01 -7.24508887e-02 1.09789702e+02] [-3.70792966e-01 9.28428550e-01 2.30868814e-02 -4.23100535e+01] [ 7.58415659e-02 5.49474732e-03 9.97104741e-01 -5.48510996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:-42.33, Z:-5.48 [[ 9.25942506e-01 3.70977954e-01 -7.07519128e-02 1.09816210e+02] [-3.69846522e-01 9.28641448e-01 2.89587783e-02 -4.23262672e+01] [ 7.64462271e-02 -6.46814879e-04 9.97073496e-01 -5.47980760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.84, Y:-42.36, Z:-5.46 [[ 9.25273926e-01 3.73820351e-01 -6.42378940e-02 1.09836790e+02] [-3.70521366e-01 9.27028299e-01 5.77273824e-02 -4.23594031e+01] [ 8.11300160e-02 -2.96121295e-02 9.96263541e-01 -5.45534512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-42.36, Z:-5.46 [[ 9.25688422e-01 3.70829189e-01 -7.47439483e-02 1.09873021e+02] [-3.69433117e-01 9.28698444e-01 3.22237714e-02 -4.23594231e+01] [ 8.13641036e-02 -2.21628235e-03 9.96681981e-01 -5.46076691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:-42.35, Z:-5.48 [[ 9.28143033e-01 3.63427937e-01 -8.04403258e-02 1.09910808e+02] [-3.64333867e-01 9.31261304e-01 3.63542065e-03 -4.23541840e+01] [ 7.62321762e-02 2.59329446e-02 9.96752797e-01 -5.48032253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:-42.40, Z:-5.45 [[ 9.26476520e-01 3.71114412e-01 -6.25727680e-02 1.09923667e+02] [-3.67843673e-01 9.28080685e-01 5.79419932e-02 -4.23997463e+01] [ 7.95756861e-02 -3.06648994e-02 9.96357052e-01 -5.44618727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:-42.39, Z:-5.47 [[ 9.27943148e-01 3.65050990e-01 -7.52282446e-02 1.09965247e+02] [-3.65059586e-01 9.30876916e-01 1.41303096e-02 -4.23887507e+01] [ 7.51865198e-02 1.43506679e-02 9.97066219e-01 -5.46809128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:-42.42, Z:-5.44 [[ 9.26671869e-01 3.69952071e-01 -6.64433014e-02 1.09984052e+02] [-3.67454458e-01 9.28854000e-01 4.69836934e-02 -4.24221835e+01] [ 7.90978410e-02 -1.91235796e-02 9.96683410e-01 -5.44403700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:-42.43, Z:-5.46 [[ 9.26250905e-01 3.69609255e-01 -7.38123217e-02 1.10022179e+02] [-3.68878190e-01 9.29172851e-01 2.38053454e-02 -4.24276891e+01] [ 7.73830814e-02 5.17803288e-03 9.96987987e-01 -5.45515982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.05, Y:-42.45, Z:-5.45 [[ 9.26024985e-01 3.70437726e-01 -7.24818455e-02 1.10046495e+02] [-3.68728293e-01 9.28832521e-01 3.61882957e-02 -4.24470777e+01] [ 8.07290052e-02 -6.78515884e-03 9.96712992e-01 -5.44709457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:-42.46, Z:-5.45 [[ 9.25800307e-01 3.70122704e-01 -7.68308243e-02 1.10078262e+02] [-3.68911285e-01 9.28982658e-01 2.99279927e-02 -4.24568122e+01] [ 8.24515330e-02 6.36413243e-04 9.96594872e-01 -5.44728634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:-42.47, Z:-5.44 [[ 9.25450268e-01 3.72068048e-01 -7.14644576e-02 1.10100855e+02] [-3.70072945e-01 9.28146579e-01 3.98740946e-02 -4.24731464e+01] [ 8.11653684e-02 -1.04544293e-02 9.96645819e-01 -5.43722531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:-42.48, Z:-5.44 [[ 9.24575651e-01 3.73385191e-01 -7.57849955e-02 1.10132161e+02] [-3.71951298e-01 9.27674022e-01 3.27588432e-02 -4.24845901e+01] [ 8.25354385e-02 -2.09970133e-03 9.96585918e-01 -5.43715702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:-42.50, Z:-5.44 [[ 9.23617769e-01 3.74682821e-01 -8.08888098e-02 1.10163530e+02] [-3.73622955e-01 9.27144615e-01 2.84385370e-02 -4.24988241e+01] [ 8.56510557e-02 3.95557812e-03 9.96317344e-01 -5.43999869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-42.52, Z:-5.43 [[ 9.23948815e-01 3.75302889e-01 -7.39346262e-02 1.10188065e+02] [-3.73348636e-01 9.26862100e-01 3.92102373e-02 -4.25169914e+01] [ 8.32429183e-02 -8.62486045e-03 9.96491961e-01 -5.42985830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:-42.53, Z:-5.44 [[ 9.23523948e-01 3.75382318e-01 -7.86869289e-02 1.10219664e+02] [-3.74704693e-01 9.26839458e-01 2.37699811e-02 -4.25254184e+01] [ 8.18529811e-02 7.53221467e-03 9.96615952e-01 -5.43933312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87361786499997 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:110.25, Y:-42.54, Z:-5.43 [[ 9.23112061e-01 3.75300455e-01 -8.37477893e-02 1.10248109e+02] [-3.74595047e-01 9.26862581e-01 2.45826480e-02 -4.25384972e+01] [ 8.68485711e-02 8.67896818e-03 9.96183719e-01 -5.43109103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.27, Y:-42.57, Z:-5.43 [[ 9.23973557e-01 3.76488610e-01 -6.72992712e-02 1.10272995e+02] [-3.74161218e-01 9.26278579e-01 4.48483765e-02 -4.25653478e+01] [ 7.92227762e-02 -1.62579368e-02 9.96724351e-01 -5.42726898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:-42.56, Z:-5.44 [[ 9.24069250e-01 3.73317279e-01 -8.20379744e-02 1.10307915e+02] [-3.73409579e-01 9.27548620e-01 1.47933580e-02 -4.25625427e+01] [ 8.16168261e-02 1.69636783e-02 9.96519406e-01 -5.43898287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:-42.59, Z:-5.43 [[ 9.24119678e-01 3.75997148e-01 -6.80365068e-02 1.10330049e+02] [-3.73996818e-01 9.26542636e-01 4.05601311e-02 -4.25914424e+01] [ 7.82892180e-02 -1.20369782e-02 9.96858019e-01 -5.42685356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:-42.59, Z:-5.43 [[ 9.24581054e-01 3.73410019e-01 -7.55965151e-02 1.10364598e+02] [-3.72941908e-01 9.27622661e-01 2.07492715e-02 -4.25941753e+01] [ 7.78730264e-02 9.00872529e-03 9.96922582e-01 -5.43410268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499998 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:110.39, Y:-42.62, Z:-5.42 [[ 9.24150673e-01 3.75454837e-01 -7.05634358e-02 1.10386229e+02] [-3.73555947e-01 9.26790907e-01 3.89174581e-02 -4.26181982e+01] [ 8.00092986e-02 -9.60620408e-03 9.96747828e-01 -5.42029377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:-42.64, Z:-5.42 [[ 9.24378915e-01 3.75227733e-01 -6.87587854e-02 1.10410552e+02] [-3.73062419e-01 9.26832383e-01 4.24990030e-02 -4.26354423e+01] [ 7.96746735e-02 -1.36338634e-02 9.96727678e-01 -5.41505174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:-42.65, Z:-5.42 [[ 9.24662153e-01 3.73736157e-01 -7.29464668e-02 1.10442931e+02] [-3.72404568e-01 9.27532812e-01 3.15867189e-02 -4.26450809e+01] [ 7.94653404e-02 -2.04144612e-03 9.96835539e-01 -5.41595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:-42.66, Z:-5.41 [[ 9.24592986e-01 3.73908884e-01 -7.29380322e-02 1.10473494e+02] [-3.72576297e-01 9.27463181e-01 3.16061837e-02 -4.26584228e+01] [ 7.94651723e-02 -2.04787387e-03 9.96835539e-01 -5.41335561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14361786499998 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:110.50, Y:-42.68, Z:-5.41 [[ 9.25794470e-01 3.71034687e-01 -7.23730682e-02 1.10503074e+02] [-3.69747886e-01 9.28617112e-01 3.09315451e-02 -4.26755349e+01] [ 7.86835457e-02 -1.87646444e-03 9.96897878e-01 -5.40965574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:-42.68, Z:-5.42 [[ 9.24930363e-01 3.71946133e-01 -7.84850143e-02 1.10533723e+02] [-3.71753754e-01 9.28164628e-01 1.75945584e-02 -4.26831830e+01] [ 7.93912421e-02 1.29033575e-02 9.96760018e-01 -5.41637703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499997 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:110.56, Y:-42.71, Z:-5.40 [[ 9.25014385e-01 3.73417364e-01 -7.00561146e-02 1.10556307e+02] [-3.71393214e-01 9.27593164e-01 4.04722425e-02 -4.27099375e+01] [ 8.00966111e-02 -1.14190409e-02 9.96721696e-01 -5.39861198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:-42.72, Z:-5.41 [[ 9.25132053e-01 3.73337690e-01 -6.89177356e-02 1.10589243e+02] [-3.72322298e-01 9.27695493e-01 2.75168674e-02 -4.27201455e+01] [ 7.42077564e-02 2.02873675e-04 9.97242783e-01 -5.40757656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:-42.73, Z:-5.41 [[ 9.24276629e-01 3.74867000e-01 -7.20239263e-02 1.10620794e+02] [-3.74229294e-01 9.27059160e-01 2.26660202e-02 -4.27331289e+01] [ 7.52671836e-02 6.00379040e-03 9.97145328e-01 -5.40656489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:-42.76, Z:-5.40 [[ 9.22749199e-01 3.80111817e-01 -6.36311459e-02 1.10641897e+02] [-3.78309478e-01 9.24866344e-01 3.87838156e-02 -4.27571654e+01] [ 7.35924919e-02 -1.17154691e-02 9.97219581e-01 -5.39703703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.76, Z:-5.40 [[ 9.21856263e-01 3.80048854e-01 -7.57885213e-02 1.10676250e+02] [-3.79304527e-01 9.24946189e-01 2.45483839e-02 -4.27637441e+01] [ 7.94298892e-02 6.11684773e-03 9.96821688e-01 -5.39850806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.70, Y:-42.79, Z:-5.39 [[ 9.21136650e-01 3.82616441e-01 -7.14977695e-02 1.10704118e+02] [-3.80675680e-01 9.23861033e-01 3.95830558e-02 -4.27884616e+01] [ 8.11991312e-02 -9.24394137e-03 9.96655031e-01 -5.38629108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499998 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:110.71, Y:-42.82, Z:-5.37 [[ 9.17929294e-01 3.93533866e-01 -5.03677321e-02 1.10709899e+02] [-3.89866435e-01 9.18254330e-01 6.93768594e-02 -4.28176767e+01] [ 7.35525318e-02 -4.40463633e-02 9.96318194e-01 -5.37196188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41361786499998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.79, Z:-5.40 [[ 9.17757899e-01 3.89067698e-01 -7.96665924e-02 1.10762281e+02] [-3.90553089e-01 9.20574284e-01 -3.35730091e-03 -4.27922124e+01] [ 7.20327989e-02 3.41952232e-02 9.96815912e-01 -5.40079572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:-42.83, Z:-5.38 [[ 9.14748319e-01 3.98457968e-01 -6.68338351e-02 1.10782056e+02] [-3.96942529e-01 9.17169210e-01 3.51748268e-02 -4.28261859e+01] [ 7.53136258e-02 -5.64692218e-03 9.97143906e-01 -5.37987565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:110.81, Y:-42.83, Z:-5.39 [[ 9.14836935e-01 3.97514579e-01 -7.11023352e-02 1.10814255e+02] [-3.97290448e-01 9.17518776e-01 1.78772416e-02 -4.28272801e+01] [ 7.23441917e-02 1.18935177e-02 9.97308810e-01 -5.38894268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:110.84, Y:-42.85, Z:-5.38 [[ 9.14122206e-01 3.99862051e-01 -6.70144301e-02 1.10841754e+02] [-3.98649950e-01 9.16573624e-01 3.11610106e-02 -4.28488119e+01] [ 7.38837646e-02 -1.76967255e-03 9.97265289e-01 -5.38064074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:110.87, Y:-42.86, Z:-5.38 [[ 9.13833270e-01 4.00968537e-01 -6.42883041e-02 1.10865092e+02] [-3.99480209e-01 9.16069492e-01 3.51034049e-02 -4.28626700e+01] [ 7.29679149e-02 -6.39675419e-03 9.97313775e-01 -5.37720113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:110.90, Y:-42.88, Z:-5.37 [[ 9.14172117e-01 3.99546579e-01 -6.82046337e-02 1.10900093e+02] [-3.98036974e-01 9.16699873e-01 3.50415440e-02 -4.28794512e+01] [ 7.65239081e-02 -4.88603652e-03 9.97055775e-01 -5.37033662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59361786499997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:110.93, Y:-42.88, Z:-5.38 [[ 9.15903242e-01 3.94856855e-01 -7.21755861e-02 1.10933881e+02] [-3.94917321e-01 9.18609414e-01 1.40375665e-02 -4.28783801e+01] [ 7.18440022e-02 1.56463364e-02 9.97293152e-01 -5.38260394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:110.96, Y:-42.90, Z:-5.37 [[ 9.16640496e-01 3.94034436e-01 -6.71346696e-02 1.10958249e+02] [-3.92683899e-01 9.19088194e-01 3.28062032e-02 -4.28998897e+01] [ 7.46294560e-02 -3.70879052e-03 9.97204437e-01 -5.37175992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:110.99, Y:-42.91, Z:-5.37 [[ 9.17475723e-01 3.91507997e-01 -7.04257455e-02 1.10990168e+02] [-3.90652701e-01 9.20167825e-01 2.61082371e-02 -4.29068553e+01] [ 7.50250887e-02 3.55833399e-03 9.97175298e-01 -5.37372910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:-42.92, Z:-5.37 [[ 9.19083930e-01 3.87673896e-01 -7.06659745e-02 1.11020911e+02] [-3.86153337e-01 9.21785555e-01 3.45975697e-02 -4.29231809e+01] [ 7.85514491e-02 -4.51016847e-03 9.96899859e-01 -5.37140185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:111.05, Y:-42.93, Z:-5.37 [[ 9.19365693e-01 3.86512978e-01 -7.33105773e-02 1.11049516e+02] [-3.85564935e-01 9.22278356e-01 2.72454513e-02 -4.29321321e+01] [ 7.81434793e-02 3.21745475e-03 9.96936931e-01 -5.36972001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:111.08, Y:-42.95, Z:-5.36 [[ 9.19966840e-01 3.85891344e-01 -6.89121488e-02 1.11076115e+02] [-3.84102462e-01 9.22504402e-01 3.80910303e-02 -4.29504793e+01] [ 7.82707595e-02 -8.57315872e-03 9.96895275e-01 -5.36417868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.10, Y:-42.96, Z:-5.36 [[ 9.20501129e-01 3.84479256e-01 -6.96661625e-02 1.11104948e+02] [-3.82531269e-01 9.23078005e-01 3.99602816e-02 -4.29644400e+01] [ 7.96712017e-02 -1.01339988e-02 9.96769683e-01 -5.35573658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:-42.97, Z:-5.36 [[ 9.20942474e-01 3.81650389e-01 -7.87904794e-02 1.11139130e+02] [-3.80982756e-01 9.24272336e-01 2.39330222e-02 -4.29675337e+01] [ 8.19579077e-02 7.97687731e-03 9.96603869e-01 -5.36044035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.17, Y:-42.98, Z:-5.36 [[ 9.21567560e-01 3.80966503e-01 -7.46843817e-02 1.11167824e+02] [-3.79652040e-01 9.24588499e-01 3.16296728e-02 -4.29827907e+01] [ 8.11021662e-02 -7.94802471e-04 9.96705477e-01 -5.35615548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.20, Y:-43.00, Z:-5.35 [[ 9.21553467e-01 3.81517737e-01 -7.19959985e-02 1.11198172e+02] [-3.80002502e-01 9.24352059e-01 3.42252697e-02 -4.29956718e+01] [ 7.96071969e-02 -4.18175646e-03 9.96817540e-01 -5.35479791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:-43.00, Z:-5.35 [[ 9.21407431e-01 3.81669732e-01 -7.30517715e-02 1.11228296e+02] [-3.80467245e-01 9.24298764e-01 3.02732541e-02 -4.30030242e+01] [ 7.90760469e-02 -1.00195074e-04 9.96868581e-01 -5.35366001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:-43.01, Z:-5.35 [[ 9.21860991e-01 3.80612753e-01 -7.28439846e-02 1.11258357e+02] [-3.79551844e-01 9.24733406e-01 2.84345892e-02 -4.30140870e+01] [ 7.81838332e-02 1.43533007e-03 9.96937926e-01 -5.35281900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:-43.03, Z:-5.35 [[ 9.21602034e-01 3.80916720e-01 -7.45127058e-02 1.11288078e+02] [-3.79610056e-01 9.24609026e-01 3.15333825e-02 -4.30287298e+01] [ 8.09067130e-02 -7.75456985e-04 9.96721377e-01 -5.34848321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-43.04, Z:-5.35 [[ 9.21661076e-01 3.80358446e-01 -7.66049166e-02 1.11317440e+02] [-3.79222202e-01 9.24837165e-01 2.94404524e-02 -4.30386826e+01] [ 8.20449986e-02 1.91616613e-03 9.96626784e-01 -5.34780780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.34, Y:-43.07, Z:-5.33 [[ 9.21360813e-01 3.82854833e-01 -6.72043884e-02 1.11341713e+02] [-3.79659034e-01 9.23447935e-01 5.57039364e-02 -4.30673612e+01] [ 8.33862750e-02 -2.58086709e-02 9.96183036e-01 -5.33143897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-43.05, Z:-5.35 [[ 9.22352952e-01 3.75838137e-01 -8.95026640e-02 1.11382707e+02] [-3.76992305e-01 9.26206467e-01 4.28755018e-03 -4.30490397e+01] [ 8.45093710e-02 2.97871810e-02 9.95977354e-01 -5.35232214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:-43.09, Z:-5.33 [[ 9.22701728e-01 3.79535699e-01 -6.76326406e-02 1.11401535e+02] [-3.76901411e-01 9.24973022e-01 4.86850508e-02 -4.30861562e+01] [ 8.10360828e-02 -1.94309428e-02 9.96521747e-01 -5.33295966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:-43.09, Z:-5.34 [[ 9.22165935e-01 3.77487410e-01 -8.43400484e-02 1.11438318e+02] [-3.76379192e-01 9.26002614e-01 2.92892764e-02 -4.30884879e+01] [ 8.91554384e-02 4.73426634e-03 9.96006473e-01 -5.33592885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13361786499998 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:111.45, Y:-43.11, Z:-5.32 [[ 9.21404544e-01 3.82598529e-01 -6.80590338e-02 1.11454640e+02] [-3.79838387e-01 9.23689165e-01 5.02108190e-02 -4.31131586e+01] [ 8.20759776e-02 -2.04130432e-02 9.96417002e-01 -5.32363877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:-43.12, Z:-5.33 [[ 9.21212580e-01 3.81583486e-01 -7.59040560e-02 1.11492159e+02] [-3.80660234e-01 9.24325029e-01 2.68519322e-02 -4.31150463e+01] [ 8.04062726e-02 4.15731802e-03 9.96753504e-01 -5.33481557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:-43.13, Z:-5.33 [[ 9.20831510e-01 3.83060601e-01 -7.30335968e-02 1.11520284e+02] [-3.81389237e-01 9.23707199e-01 3.61560656e-02 -4.31338813e+01] [ 8.13116233e-02 -5.43941676e-03 9.96673885e-01 -5.32820108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:-43.15, Z:-5.32 [[ 9.20356125e-01 3.83933468e-01 -7.44291368e-02 1.11549980e+02] [-3.82167998e-01 9.23342385e-01 3.72352304e-02 -4.31478140e+01] [ 8.30194278e-02 -5.82523812e-03 9.96530903e-01 -5.32400734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:-43.15, Z:-5.33 [[ 9.19242137e-01 3.85440152e-01 -8.01859294e-02 1.11578971e+02] [-3.84929324e-01 9.22675200e-01 2.23582242e-02 -4.31486778e+01] [ 8.26033258e-02 1.03132938e-02 9.96529140e-01 -5.33182283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28361786499998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:111.61, Y:-43.17, Z:-5.32 [[ 9.19044400e-01 3.86195698e-01 -7.88052967e-02 1.11605692e+02] [-3.84452723e-01 9.22410066e-01 3.68208420e-02 -4.31675050e+01] [ 8.69108497e-02 -3.54307774e-03 9.96209793e-01 -5.31790037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.63, Y:-43.19, Z:-5.31 [[ 9.18619332e-01 3.89311553e-01 -6.76390235e-02 1.11630256e+02] [-3.86559717e-01 9.20885351e-01 5.04158194e-02 -4.31886955e+01] [ 8.19152469e-02 -2.01664245e-02 9.96435250e-01 -5.31110517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:-43.18, Z:-5.33 [[ 9.18619738e-01 3.86242703e-01 -8.33927558e-02 1.11671067e+02] [-3.86736948e-01 9.22126842e-01 1.07991395e-02 -4.31802167e+01] [ 8.10697874e-02 2.23307571e-02 9.96458241e-01 -5.33352904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:-43.22, Z:-5.30 [[ 9.16906393e-01 3.93418752e-01 -6.71144663e-02 1.11684764e+02] [-3.90041488e-01 9.18958221e-01 5.81672250e-02 -4.32214871e+01] [ 8.45594676e-02 -2.71564742e-02 9.96048303e-01 -5.30345563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:-43.21, Z:-5.32 [[ 9.18055819e-01 3.88728298e-01 -7.78705571e-02 1.11725479e+02] [-3.88397675e-01 9.21275441e-01 1.99701759e-02 -4.32135197e+01] [ 7.95032043e-02 1.19110072e-02 9.96763447e-01 -5.32265675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:-43.23, Z:-5.31 [[ 9.17891193e-01 3.88499052e-01 -8.08965030e-02 1.11751962e+02] [-3.87681926e-01 9.21420242e-01 2.62194796e-02 -4.32300729e+01] [ 8.47259183e-02 7.29548266e-03 9.96377586e-01 -5.31338622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:-43.25, Z:-5.31 [[ 9.18820257e-01 3.89066052e-01 -6.63094367e-02 1.11777740e+02] [-3.86875833e-01 9.21095751e-01 4.37001904e-02 -4.32544365e+01] [ 7.80796009e-02 -1.44991016e-02 9.96841689e-01 -5.31045744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49361786499998 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:111.81, Y:-43.26, Z:-5.31 [[ 9.17352086e-01 3.89788926e-01 -8.08068271e-02 1.11808600e+02] [-3.88916221e-01 9.20879641e-01 2.69232132e-02 -4.32579990e+01] [ 8.49077322e-02 6.72902009e-03 9.96366096e-01 -5.30920575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499998 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:111.84, Y:-43.27, Z:-5.31 [[ 9.16626195e-01 3.90847973e-01 -8.38706186e-02 1.11838287e+02] [-3.89899341e-01 9.20428979e-01 2.80891068e-02 -4.32720697e+01] [ 8.81755183e-02 6.95388790e-03 9.96080680e-01 -5.30613088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:-43.29, Z:-5.30 [[ 9.15584827e-01 3.94830071e-01 -7.62472256e-02 1.11862849e+02] [-3.92527604e-01 9.18698142e-01 4.37699048e-02 -4.32930023e+01] [ 8.73298590e-02 -1.01459199e-02 9.96127781e-01 -5.29707701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:-43.30, Z:-5.30 [[ 9.14496840e-01 3.96406872e-01 -8.09760621e-02 1.11893845e+02] [-3.94909200e-01 9.18074806e-01 3.44292678e-02 -4.33002886e+01] [ 8.79900808e-02 4.92735278e-04 9.96121229e-01 -5.29794277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:-43.32, Z:-5.29 [[ 9.13751751e-01 4.00043240e-01 -7.08741359e-02 1.11921350e+02] [-3.97664701e-01 9.16397123e-01 4.55971332e-02 -4.33211379e+01] [ 8.31896792e-02 -1.34803182e-02 9.96442551e-01 -5.29481918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64361786499998 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:111.95, Y:-43.32, Z:-5.29 [[ 9.12812202e-01 3.99884943e-01 -8.28608274e-02 1.11952603e+02] [-3.98962368e-01 9.16535645e-01 2.81325544e-02 -4.33226359e+01] [ 8.71946868e-02 7.37861295e-03 9.96163964e-01 -5.29476719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67361786499998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:111.98, Y:-43.34, Z:-5.29 [[ 9.12713433e-01 3.99804017e-01 -8.43263791e-02 1.11982996e+02] [-3.98772464e-01 9.16576000e-01 2.94781035e-02 -4.33364524e+01] [ 8.90769994e-02 6.72197696e-03 9.96002060e-01 -5.29115473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-43.36, Z:-5.29 [[ 9.14307630e-01 3.99162257e-01 -6.86370920e-02 1.12009483e+02] [-3.96619440e-01 9.16729567e-01 4.79574898e-02 -4.33621122e+01] [ 8.20644715e-02 -1.66250938e-02 9.96488349e-01 -5.28578161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-43.36, Z:-5.29 [[ 9.14389161e-01 3.97215940e-01 -7.81790227e-02 1.12042456e+02] [-3.96099198e-01 9.17718283e-01 2.99762831e-02 -4.33649425e+01] [ 8.36533760e-02 3.55665985e-03 9.96488566e-01 -5.28999451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:-43.38, Z:-5.28 [[ 9.15454005e-01 3.95701164e-01 -7.32431169e-02 1.12069838e+02] [-3.94034916e-01 9.18367728e-01 3.65677561e-02 -4.33826303e+01] [ 8.17340185e-02 -4.61575331e-03 9.96643489e-01 -5.28488471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:-43.39, Z:-5.28 [[ 9.15181181e-01 3.94035070e-01 -8.47335181e-02 1.12100665e+02] [-3.93296262e-01 9.19045512e-01 2.59498887e-02 -4.33885462e+01] [ 8.80991258e-02 9.57652614e-03 9.96065678e-01 -5.28274372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:-43.42, Z:-5.27 [[ 9.16927281e-01 3.93168667e-01 -6.82844055e-02 1.12122382e+02] [-3.90507977e-01 9.19279931e-01 4.92740172e-02 -4.34181483e+01] [ 8.21454832e-02 -1.85150855e-02 9.96448348e-01 -5.27197468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.16, Y:-43.42, Z:-5.28 [[ 9.18093938e-01 3.88960385e-01 -7.62452589e-02 1.12158765e+02] [-3.88030661e-01 9.21243208e-01 2.72609022e-02 -4.34208218e+01] [ 8.08438379e-02 4.55742913e-03 9.96716361e-01 -5.27881391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:-43.44, Z:-5.27 [[ 9.18635413e-01 3.88675057e-01 -7.09977264e-02 1.12185983e+02] [-3.86581470e-01 9.21310520e-01 4.17336004e-02 -4.34441643e+01] [ 8.16317618e-02 -1.08915578e-02 9.96603045e-01 -5.26913756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-43.45, Z:-5.27 [[ 9.19227600e-01 3.86522809e-01 -7.49715792e-02 1.12218338e+02] [-3.85564006e-01 9.22272548e-01 2.74544056e-02 -4.34487506e+01] [ 7.97559834e-02 3.66949505e-03 9.96807663e-01 -5.27453777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-43.46, Z:-5.27 [[ 9.19214841e-01 3.86174636e-01 -7.68975099e-02 1.12247684e+02] [-3.85450152e-01 9.22399284e-01 2.46523955e-02 -4.34594771e+01] [ 8.04503379e-02 6.97930910e-03 9.96734183e-01 -5.27479147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:-43.48, Z:-5.26 [[ 9.18893403e-01 3.88546156e-01 -6.83139691e-02 1.12271777e+02] [-3.86452363e-01 9.21347119e-01 4.21195558e-02 -4.34820657e+01] [ 7.93062701e-02 -1.23032872e-02 9.96774370e-01 -5.26487025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:-43.49, Z:-5.27 [[ 9.18845760e-01 3.87895448e-01 -7.25230391e-02 1.12304769e+02] [-3.86500112e-01 9.21700648e-01 3.29481114e-02 -4.34908516e+01] [ 7.96249546e-02 -2.24406972e-03 9.96822367e-01 -5.26565862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.34, Y:-43.50, Z:-5.27 [[ 9.17976661e-01 3.88193538e-01 -8.13918104e-02 1.12335624e+02] [-3.87901305e-01 9.21483437e-01 2.00213232e-02 -4.34950441e+01] [ 8.27733535e-02 1.31928820e-02 9.96481068e-01 -5.27026679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:-43.52, Z:-5.26 [[ 9.18166885e-01 3.89429599e-01 -7.28982716e-02 1.12362759e+02] [-3.87791194e-01 9.21043785e-01 3.60046749e-02 -4.35182437e+01] [ 8.11637861e-02 -4.78899239e-03 9.96689272e-01 -5.26128848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:-43.53, Z:-5.26 [[ 9.16391609e-01 3.92572707e-01 -7.81862459e-02 1.12391088e+02] [-3.91528160e-01 9.19711762e-01 2.89132207e-02 -4.35258678e+01] [ 8.32593513e-02 4.11628412e-03 9.96519411e-01 -5.26160044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:-43.54, Z:-5.26 [[ 9.16167267e-01 3.93723695e-01 -7.49612656e-02 1.12420388e+02] [-3.92270964e-01 9.19227465e-01 3.38283776e-02 -4.35419550e+01] [ 8.22254880e-02 -1.58732438e-03 9.96612487e-01 -5.25715428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:-43.56, Z:-5.25 [[ 9.16320533e-01 3.93654661e-01 -7.34349241e-02 1.12451329e+02] [-3.91975586e-01 9.19245956e-01 3.66334845e-02 -4.35583868e+01] [ 8.19256989e-02 -4.78331665e-03 9.96626961e-01 -5.25115575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:-43.57, Z:-5.24 [[ 9.14237050e-01 3.99276527e-01 -6.89120570e-02 1.12469732e+02] [-3.96786086e-01 9.16693132e-01 4.72705344e-02 -4.35740543e+01] [ 8.20452242e-02 -1.58731286e-02 9.96502195e-01 -5.24011429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:-43.58, Z:-5.25 [[ 9.14651502e-01 3.98222117e-01 -6.95109681e-02 1.12508031e+02] [-3.97019048e-01 9.17288752e-01 3.09389967e-02 -4.35825709e+01] [ 7.60822219e-02 -7.01221385e-04 9.97101301e-01 -5.24756820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.54, Y:-43.60, Z:-5.24 [[ 9.14449604e-01 3.98740426e-01 -6.91953368e-02 1.12537865e+02] [-3.97437269e-01 9.17061626e-01 3.22737101e-02 -4.35973485e+01] [ 7.63252209e-02 -2.01187575e-03 9.97080946e-01 -5.24385076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.57, Y:-43.60, Z:-5.25 [[ 9.14042753e-01 3.97102883e-01 -8.26749404e-02 1.12572000e+02] [-3.97190992e-01 9.17594954e-01 1.60877529e-02 -4.36011523e+01] [ 8.22506013e-02 1.81328476e-02 9.96446706e-01 -5.24821028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.59, Y:-43.63, Z:-5.22 [[ 9.14144977e-01 4.00844093e-01 -6.05225140e-02 1.12586553e+02] [-3.97718362e-01 9.15702365e-01 5.75263759e-02 -4.36337693e+01] [ 7.84797171e-02 -2.85165325e-02 9.96507773e-01 -5.22408867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:112.62, Y:-43.64, Z:-5.24 [[ 9.14374012e-01 3.98731146e-01 -7.02398720e-02 1.12624760e+02] [-3.97551427e-01 9.17067862e-01 3.06496332e-02 -4.36359630e+01] [ 7.66356926e-02 -1.01266741e-04 9.97059156e-01 -5.23551237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.65, Y:-43.65, Z:-5.23 [[ 9.14243009e-01 3.98798394e-01 -7.15511163e-02 1.12650987e+02] [-3.97320480e-01 9.17033536e-01 3.44373360e-02 -4.36477739e+01] [ 7.93483275e-02 -3.05536982e-03 9.96842268e-01 -5.22843581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.68, Y:-43.66, Z:-5.23 [[ 9.14739375e-01 3.97797638e-01 -7.07736920e-02 1.12683572e+02] [-3.96897770e-01 9.17466778e-01 2.69605714e-02 -4.36595491e+01] [ 7.56573627e-02 3.42802432e-03 9.97127982e-01 -5.23378678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.71, Y:-43.68, Z:-5.22 [[ 9.14151213e-01 3.99110228e-01 -7.09829989e-02 1.12708499e+02] [-3.97349892e-01 9.16879609e-01 3.80111322e-02 -4.36761264e+01] [ 8.02534959e-02 -6.54283563e-03 9.96753012e-01 -5.22235497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:-43.69, Z:-5.23 [[ 9.14346453e-01 3.98522334e-01 -7.17670699e-02 1.12742214e+02] [-3.97463406e-01 9.17156616e-01 2.90960763e-02 -4.36866042e+01] [ 7.74170793e-02 1.92088988e-03 9.96996944e-01 -5.22708342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.77, Y:-43.70, Z:-5.23 [[ 9.14396053e-01 3.98556079e-01 -7.09430022e-02 1.12771777e+02] [-3.97579765e-01 9.17140275e-01 2.80008427e-02 -4.36984378e+01] [ 7.62245906e-02 2.60164211e-03 9.97087280e-01 -5.22659669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:-43.72, Z:-5.21 [[ 9.13203557e-01 4.01445519e-01 -7.00054147e-02 1.12796493e+02] [-3.99502233e-01 9.15838856e-01 4.04617875e-02 -4.37170068e+01] [ 8.03568822e-02 -8.98252878e-03 9.96725682e-01 -5.21308985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.83, Y:-43.73, Z:-5.21 [[ 9.13076564e-01 4.01199096e-01 -7.30101005e-02 1.12828640e+02] [-3.99817493e-01 9.15990085e-01 3.32887013e-02 -4.37265035e+01] [ 8.02319250e-02 -1.20441766e-03 9.96775495e-01 -5.21293064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:-43.74, Z:-5.21 [[ 9.13043332e-01 4.01380623e-01 -7.24256111e-02 1.12858559e+02] [-4.00019803e-01 9.15910561e-01 3.30454532e-02 -4.37401491e+01] [ 7.95991867e-02 -1.20025202e-03 9.96826228e-01 -5.21023378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:-43.75, Z:-5.21 [[ 9.13245600e-01 4.01293451e-01 -7.03280948e-02 1.12888410e+02] [-4.00008397e-01 9.15948765e-01 3.21113896e-02 -4.37549731e+01] [ 7.73030220e-02 -1.19375677e-03 9.97006930e-01 -5.21067227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.92, Y:-43.77, Z:-5.20 [[ 9.13295691e-01 4.01014678e-01 -7.12615577e-02 1.12917687e+02] [-3.99692392e-01 9.16070766e-01 3.25629056e-02 -4.37679060e+01] [ 7.83388329e-02 -1.25685886e-03 9.96925999e-01 -5.20432290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.95, Y:-43.78, Z:-5.20 [[ 9.13307393e-01 4.01063952e-01 -7.08329936e-02 1.12946729e+02] [-3.99756510e-01 9.16049191e-01 3.23822686e-02 -4.37810421e+01] [ 7.78738671e-02 -1.25901499e-03 9.96962424e-01 -5.20218359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-43.79, Z:-5.20 [[ 9.13274694e-01 4.01107524e-01 -7.10076620e-02 1.12976394e+02] [-3.99792114e-01 9.16030088e-01 3.24829680e-02 -4.37946142e+01] [ 7.80743177e-02 -1.27756932e-03 9.96946723e-01 -5.19879959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:-43.81, Z:-5.20 [[ 9.13562146e-01 4.00776519e-01 -6.91548096e-02 1.13007559e+02] [-3.99639627e-01 9.16175843e-01 3.01660929e-02 -4.38085174e+01] [ 7.54478277e-02 7.84017090e-05 9.97149748e-01 -5.20045217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.04, Y:-43.82, Z:-5.20 [[ 9.13806004e-01 4.00264070e-01 -6.89003724e-02 1.13037165e+02] [-3.99208022e-01 9.16399362e-01 2.90717006e-02 -4.38207534e+01] [ 7.47766145e-02 9.39686768e-04 9.97199867e-01 -5.19933552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.06, Y:-43.84, Z:-5.19 [[ 9.13357424e-01 4.01133041e-01 -6.97889562e-02 1.13063151e+02] [-3.99515862e-01 9.16004215e-01 3.63779354e-02 -4.38358884e+01] [ 7.85193699e-02 -5.34426242e-03 9.96898263e-01 -5.18997259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:-43.84, Z:-5.20 [[ 9.14807085e-01 3.97431345e-01 -7.19466704e-02 1.13097901e+02] [-3.96978198e-01 9.17585279e-01 2.11084648e-02 -4.38401325e+01] [ 7.44063712e-02 9.25108640e-03 9.97185093e-01 -5.19994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:-43.86, Z:-5.19 [[ 9.15467923e-01 3.97542060e-01 -6.22799561e-02 1.13123570e+02] [-3.95977137e-01 9.17544298e-01 3.62569812e-02 -4.38619273e+01] [ 7.15582936e-02 -8.53066463e-03 9.97399939e-01 -5.19181886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:-43.87, Z:-5.18 [[ 9.15014515e-01 3.97150558e-01 -7.08510537e-02 1.13152258e+02] [-3.95528199e-01 9.17739174e-01 3.62250332e-02 -4.38731182e+01] [ 7.94095797e-02 -5.12284158e-03 9.96828910e-01 -5.18326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:-43.88, Z:-5.19 [[ 9.17077020e-01 3.92158801e-01 -7.19806548e-02 1.13186866e+02] [-3.91293142e-01 9.19888828e-01 2.63480784e-02 -4.38814490e+01] [ 7.65468310e-02 4.00231936e-03 9.97057954e-01 -5.18893634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:-43.90, Z:-5.18 [[ 9.17946796e-01 3.90897758e-01 -6.76211643e-02 1.13214309e+02] [-3.89220694e-01 9.20402646e-01 3.69624283e-02 -4.39000307e+01] [ 7.66872289e-02 -7.60998615e-03 9.97026157e-01 -5.18080689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:-43.91, Z:-5.18 [[ 9.18704278e-01 3.88565452e-01 -7.07060010e-02 1.13245588e+02] [-3.87436728e-01 9.21421102e-01 2.95961748e-02 -4.39086417e+01] [ 7.66500524e-02 2.03969307e-04 9.97058036e-01 -5.18112493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:-43.92, Z:-5.18 [[ 9.19141097e-01 3.87853331e-01 -6.89161631e-02 1.13273732e+02] [-3.86271333e-01 9.21701463e-01 3.55087368e-02 -4.39245144e+01] [ 7.72923102e-02 -6.01720109e-03 9.96990317e-01 -5.17508166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:-43.93, Z:-5.17 [[ 9.20128983e-01 3.85183143e-01 -7.06866343e-02 1.13304667e+02] [-3.83931885e-01 9.22839035e-01 3.10551575e-02 -4.39314908e+01] [ 7.71943086e-02 -1.43589775e-03 9.97015033e-01 -5.17445749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:-43.94, Z:-5.17 [[ 9.19954280e-01 3.85709601e-01 -7.00872751e-02 1.13332205e+02] [-3.84186453e-01 9.22607242e-01 3.45925848e-02 -4.39446544e+01] [ 7.80057196e-02 -4.89701483e-03 9.96940884e-01 -5.16921949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-43.95, Z:-5.17 [[ 9.20260554e-01 3.84822662e-01 -7.09368098e-02 1.13366346e+02] [-3.83894175e-01 9.22987046e-01 2.68360805e-02 -4.39523990e+01] [ 7.58008885e-02 2.53604170e-03 9.97119749e-01 -5.17187675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:-43.96, Z:-5.17 [[ 9.19118006e-01 3.86752629e-01 -7.51298548e-02 1.13397641e+02] [-3.86059899e-01 9.22158198e-01 2.41249312e-02 -4.39587747e+01] [ 7.86119920e-02 6.83096551e-03 9.96881885e-01 -5.17108245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.42, Y:-43.98, Z:-5.16 [[ 9.18136600e-01 3.90928484e-01 -6.48082016e-02 1.13420151e+02] [-3.88581774e-01 9.20261976e-01 4.60662559e-02 -4.39799535e+01] [ 7.76491353e-02 -1.71118296e-02 9.96833886e-01 -5.15694384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:-43.98, Z:-5.16 [[ 9.17664943e-01 3.91158690e-01 -6.98994359e-02 1.13457749e+02] [-3.90161040e-01 9.20321841e-01 2.79655703e-02 -4.39834719e+01] [ 7.52689533e-02 1.60901312e-03 9.97161971e-01 -5.16383501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:-43.99, Z:-5.16 [[ 9.15789695e-01 3.95878782e-01 -6.78912758e-02 1.13487539e+02] [-3.94406451e-01 9.18290414e-01 3.44422280e-02 -4.39944610e+01] [ 7.59788550e-02 -4.76508030e-03 9.97098043e-01 -5.15857291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:-44.00, Z:-5.16 [[ 9.14645693e-01 3.98271749e-01 -6.93027436e-02 1.13516063e+02] [-3.97010362e-01 9.17266266e-01 3.17075845e-02 -4.40020963e+01] [ 7.61973040e-02 -1.48729825e-03 9.97091650e-01 -5.15792553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:-44.01, Z:-5.15 [[ 9.14076947e-01 3.99363310e-01 -7.05144020e-02 1.13544586e+02] [-3.97802161e-01 9.16781944e-01 3.55570969e-02 -4.40123636e+01] [ 7.88465305e-02 -4.45114109e-03 9.96876829e-01 -5.15076856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:-44.02, Z:-5.16 [[ 9.12898468e-01 4.01869967e-01 -7.15326296e-02 1.13581032e+02] [-4.01358991e-01 9.15656233e-01 2.20141731e-02 -4.40159664e+01] [ 7.43461332e-02 8.61355914e-03 9.97195296e-01 -5.15822885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:-44.04, Z:-5.15 [[ 9.11925541e-01 4.05070052e-01 -6.56510575e-02 1.13607271e+02] [-4.03409616e-01 9.14253663e-01 3.74288926e-02 -4.40353913e+01] [ 7.51830432e-02 -7.64809525e-03 9.97140420e-01 -5.14914561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:-44.04, Z:-5.14 [[ 9.11072075e-01 4.06293342e-01 -6.98097076e-02 1.13636614e+02] [-4.04665942e-01 9.13727997e-01 3.66963517e-02 -4.40429757e+01] [ 7.86965676e-02 -5.18341013e-03 9.96885140e-01 -5.14211067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-44.05, Z:-5.15 [[ 9.10181798e-01 4.08365282e-01 -6.93317501e-02 1.13673742e+02] [-4.07729084e-01 9.12794295e-01 2.37396094e-02 -4.40468441e+01] [ 7.29800583e-02 6.66121057e-03 9.97311155e-01 -5.14863760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:-44.06, Z:-5.14 [[ 9.09422956e-01 4.10687400e-01 -6.54656151e-02 1.13699491e+02] [-4.09219710e-01 9.11761968e-01 3.50619799e-02 -4.40631213e+01] [ 7.40885714e-02 -5.09634937e-03 9.97238643e-01 -5.14197914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:-44.07, Z:-5.14 [[ 9.09453294e-01 4.10108339e-01 -6.85992396e-02 1.13733136e+02] [-4.09416691e-01 9.12018371e-01 2.45043683e-02 -4.40683808e+01] [ 7.26132126e-02 5.80009519e-03 9.97343311e-01 -5.14427313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:-44.08, Z:-5.13 [[ 9.07966864e-01 4.12998430e-01 -7.09117131e-02 1.13760045e+02] [-4.11552108e-01 9.10728989e-01 3.46059285e-02 -4.40803962e+01] [ 7.88735469e-02 -2.23717139e-03 9.96882119e-01 -5.13456724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:-44.10, Z:-5.13 [[ 9.08183652e-01 4.13293955e-01 -6.62613005e-02 1.13788982e+02] [-4.11384838e-01 9.10544104e-01 4.08894730e-02 -4.40952372e+01] [ 7.72332086e-02 -9.87625653e-03 9.96964137e-01 -5.12962078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:-44.10, Z:-5.14 [[ 9.08913600e-01 4.11011548e-01 -7.03247897e-02 1.13825784e+02] [-4.10571798e-01 9.11580196e-01 2.12684109e-02 -4.40969135e+01] [ 7.28482481e-02 9.54222749e-03 9.97297387e-01 -5.14006641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:-44.12, Z:-5.13 [[ 9.08691743e-01 4.12313764e-01 -6.53963066e-02 1.13852907e+02] [-4.10865502e-01 9.11029217e-01 3.48612295e-02 -4.41163023e+01] [ 7.39517107e-02 -4.80902499e-03 9.97250228e-01 -5.13251460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:-44.13, Z:-5.12 [[ 9.07670863e-01 4.13626055e-01 -7.10428797e-02 1.13879632e+02] [-4.11751531e-01 9.10419845e-01 3.99547585e-02 -4.41300576e+01] [ 8.12051767e-02 -7.01375560e-03 9.96672728e-01 -5.12271325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:-44.13, Z:-5.12 [[ 9.09882659e-01 4.08705682e-01 -7.12264927e-02 1.13913453e+02] [-4.07370555e-01 9.12665655e-01 3.30247219e-02 -4.41340837e+01] [ 7.85033651e-02 -1.03304588e-03 9.96913313e-01 -5.12324920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:-44.15, Z:-5.12 [[ 9.10679431e-01 4.06888662e-01 -7.14464154e-02 1.13944187e+02] [-4.05537906e-01 9.13476953e-01 3.31491161e-02 -4.41459084e+01] [ 7.87526533e-02 -1.21398850e-03 9.96893448e-01 -5.12100251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:-44.15, Z:-5.12 [[ 9.12780174e-01 4.01207587e-01 -7.65821550e-02 1.13978291e+02] [-4.00429049e-01 9.15960506e-01 2.59408648e-02 -4.41522853e+01] [ 8.05539012e-02 6.98741234e-03 9.96725762e-01 -5.12111543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71361786499997 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:114.00, Y:-44.16, Z:-5.12 [[ 9.13747539e-01 3.98886705e-01 -7.71675520e-02 1.14002060e+02] [-3.98155620e-01 9.16968721e-01 2.53074460e-02 -4.41605683e+01] [ 8.08550352e-02 7.60007793e-03 9.96696896e-01 -5.12018958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:-44.19, Z:-5.11 [[ 9.14866258e-01 3.99261836e-01 -6.00809043e-02 1.14020436e+02] [-3.96074550e-01 9.16356827e-01 5.84390036e-02 -4.41896607e+01] [ 7.83880107e-02 -2.96673555e-02 9.96481394e-01 -5.11021946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:-44.18, Z:-5.12 [[ 9.15845976e-01 3.94117158e-01 -7.67972252e-02 1.14059069e+02] [-3.93837178e-01 9.18975486e-01 1.93993045e-02 -4.41775848e+01] [ 7.82203661e-02 1.24788275e-02 9.96857990e-01 -5.11941314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:-44.19, Z:-5.12 [[ 9.19284686e-01 3.88207914e-01 -6.48866838e-02 1.14089041e+02] [-3.87052968e-01 9.21568459e-01 3.00262435e-02 -4.41906583e+01] [ 7.14539465e-02 -2.48808230e-03 9.97440797e-01 -5.11733640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:-44.20, Z:-5.12 [[ 9.19957608e-01 3.86683456e-01 -6.44507831e-02 1.14120713e+02] [-3.85538796e-01 9.22208817e-01 2.98451573e-02 -4.42017188e+01] [ 7.09777090e-02 -2.60800219e-03 9.97474492e-01 -5.11530734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-44.21, Z:-5.11 [[ 9.20415801e-01 3.85636703e-01 -6.41801032e-02 1.14152224e+02] [-3.84497637e-01 9.22646769e-01 2.97406464e-02 -4.42130152e+01] [ 7.06846497e-02 -2.69666284e-03 9.97495067e-01 -5.11353914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89361786499998 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:114.18, Y:-44.22, Z:-5.11 [[ 9.20918348e-01 3.84162822e-01 -6.57899823e-02 1.14179908e+02] [-3.83104585e-01 9.23264758e-01 2.85142633e-02 -4.42213098e+01] [ 7.16956920e-02 -1.05486441e-03 9.97425995e-01 -5.11152517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92361786499998 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:114.21, Y:-44.23, Z:-5.11 [[ 9.20964674e-01 3.84177852e-01 -6.50495732e-02 1.14205338e+02] [-3.83000837e-01 9.23254589e-01 3.01881169e-02 -4.42340412e+01] [ 7.16549228e-02 -2.88814826e-03 9.97425301e-01 -5.10893420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:-44.24, Z:-5.11 [[ 9.20501075e-01 3.85368656e-01 -6.45660161e-02 1.14231735e+02] [-3.84070006e-01 9.22751198e-01 3.19446008e-02 -4.42411682e+01] [ 7.18888166e-02 -4.60716917e-03 9.97402011e-01 -5.10667204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.26, Y:-44.25, Z:-5.10 [[ 9.19907864e-01 3.86564925e-01 -6.58565189e-02 1.14263069e+02] [-3.85369484e-01 9.22258321e-01 3.04950951e-02 -4.42506089e+01] [ 7.25250567e-02 -2.67358506e-03 9.97363007e-01 -5.10494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:-44.26, Z:-5.10 [[ 9.19107348e-01 3.88346564e-01 -6.65479435e-02 1.14291590e+02] [-3.87128957e-01 9.21509790e-01 3.08362900e-02 -4.42594672e+01] [ 7.32997487e-02 -2.57922477e-03 9.97306620e-01 -5.10297700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.32, Y:-44.26, Z:-5.10 [[ 9.17365052e-01 3.92351093e-01 -6.70967974e-02 1.14320755e+02] [-3.91124046e-01 9.19812717e-01 3.10893249e-02 -4.42643620e+01] [ 7.39144182e-02 -2.27708924e-03 9.97261988e-01 -5.10164943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.35, Y:-44.27, Z:-5.10 [[ 9.16441094e-01 3.94498286e-01 -6.71328788e-02 1.14347591e+02] [-3.93276052e-01 9.18894277e-01 3.11007369e-02 -4.42733276e+01] [ 7.39572055e-02 -2.10023986e-03 9.97259204e-01 -5.09939202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.38, Y:-44.29, Z:-5.10 [[ 9.15001823e-01 3.97569505e-01 -6.86305551e-02 1.14377310e+02] [-3.96301202e-01 9.17570121e-01 3.17872518e-02 -4.42850488e+01] [ 7.56109887e-02 -1.88702180e-03 9.97135606e-01 -5.09551786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13361786499998 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:114.41, Y:-44.29, Z:-5.10 [[ 9.14645040e-01 3.97387227e-01 -7.42148469e-02 1.14408008e+02] [-3.96881351e-01 9.17604306e-01 2.20800948e-02 -4.42873671e+01] [ 7.68742108e-02 9.25903953e-03 9.96997806e-01 -5.09578595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:-44.31, Z:-5.09 [[ 9.12801769e-01 4.03268076e-01 -6.45584216e-02 1.14430434e+02] [-4.01306710e-01 9.15003708e-01 4.14866098e-02 -4.43051811e+01] [ 7.58014204e-02 -1.19613231e-02 9.97051188e-01 -5.08857563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:-44.31, Z:-5.09 [[ 9.12319508e-01 4.04041901e-01 -6.65075712e-02 1.14463503e+02] [-4.02871563e-01 9.14739602e-01 3.07565332e-02 -4.43102594e+01] [ 7.32640374e-02 -1.26577611e-03 9.97311776e-01 -5.09029645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:-44.32, Z:-5.09 [[ 9.12034595e-01 4.04746560e-01 -6.61295593e-02 1.14491242e+02] [-4.03589670e-01 9.14428086e-01 3.06047861e-02 -4.43194187e+01] [ 7.28579083e-02 -1.22341667e-03 9.97341581e-01 -5.08796968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:-44.32, Z:-5.10 [[ 9.12216999e-01 4.03530351e-01 -7.08759696e-02 1.14525775e+02] [-4.04280904e-01 9.14625885e-01 4.05485718e-03 -4.43155775e+01] [ 6.64612543e-02 2.49548914e-02 9.97476895e-01 -5.10029962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:-44.34, Z:-5.09 [[ 9.10965510e-01 4.08420318e-01 -5.77467141e-02 1.14543421e+02] [-4.06528650e-01 9.12675211e-01 4.19334802e-02 -4.43438134e+01] [ 6.98304798e-02 -1.47242605e-02 9.97450199e-01 -5.08603501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:-44.35, Z:-5.08 [[ 9.10258785e-01 4.09209751e-01 -6.30580964e-02 1.14568640e+02] [-4.07574903e-01 9.12401337e-01 3.75033186e-02 -4.43493846e+01] [ 7.28810152e-02 -8.43682770e-03 9.97304957e-01 -5.08178402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.60, Y:-44.35, Z:-5.08 [[ 9.10143929e-01 4.08949779e-01 -6.63182241e-02 1.14600525e+02] [-4.08206140e-01 9.12546773e-01 2.50226854e-02 -4.43527359e+01] [ 7.07515031e-02 4.29726110e-03 9.97484716e-01 -5.08372004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37361786499997 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:114.63, Y:-44.36, Z:-5.09 [[ 9.09820169e-01 4.09833100e-01 -6.53000073e-02 1.14627005e+02] [-4.10101888e-01 9.11986509e-01 9.85127878e-03 -4.43562831e+01] [ 6.35901058e-02 1.78167642e-02 9.97817048e-01 -5.09327426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:114.66, Y:-44.37, Z:-5.09 [[ 9.09750357e-01 4.10022469e-01 -6.50835114e-02 1.14655488e+02] [-4.09645143e-01 9.12033169e-01 1.96559271e-02 -4.43739251e+01] [ 6.74176930e-02 8.77915768e-03 9.97686214e-01 -5.08586357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.67, Y:-44.41, Z:-5.06 [[ 9.10157719e-01 4.10752162e-01 -5.38106724e-02 1.14672364e+02] [-4.07522673e-01 9.11100282e-01 6.18186683e-02 -4.44052476e+01] [ 7.44190704e-02 -3.43356690e-02 9.96635773e-01 -5.06463193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-44.40, Z:-5.07 [[ 9.10681939e-01 4.06908603e-01 -7.13007381e-02 1.14710928e+02] [-4.06713526e-01 9.13380521e-01 1.78922300e-02 -4.43952496e+01] [ 7.24052076e-02 1.27048439e-02 9.97294376e-01 -5.07385111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:-44.42, Z:-5.06 [[ 9.11143215e-01 4.07294963e-01 -6.26805728e-02 1.14727045e+02] [-4.04925615e-01 9.13124544e-01 4.73161059e-02 -4.44203135e+01] [ 7.65067810e-02 -1.77307794e-02 9.96911396e-01 -5.05970443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:-44.42, Z:-5.06 [[ 9.11864832e-01 4.04493198e-01 -6.99126639e-02 1.14756165e+02] [-4.03206005e-01 9.14540174e-01 3.22674436e-02 -4.44233354e+01] [ 7.69899012e-02 -1.23434110e-03 9.97031109e-01 -5.06046918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:-44.43, Z:-5.06 [[ 9.12503717e-01 4.03014325e-01 -7.01171934e-02 1.14781155e+02] [-4.01715899e-01 9.15192667e-01 3.23530347e-02 -4.44346813e+01] [ 7.72094776e-02 -1.35507305e-03 9.97013972e-01 -5.05891855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58361786499998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:114.82, Y:-44.43, Z:-5.08 [[ 9.14527440e-01 3.96092727e-01 -8.21590718e-02 1.14821360e+02] [-3.98180049e-01 9.17251669e-01 -1.01007294e-02 -4.44262288e+01] [ 7.13597202e-02 4.19514974e-02 9.96568042e-01 -5.07913631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:-44.48, Z:-5.05 [[ 9.13804154e-01 4.01905186e-01 -5.86019702e-02 1.14822677e+02] [-3.98141912e-01 9.14921491e-01 6.63451864e-02 -4.44759819e+01] [ 8.02806764e-02 -3.72946064e-02 9.96074357e-01 -5.04929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.86, Y:-44.46, Z:-5.07 [[ 9.14411748e-01 3.98313093e-01 -7.20960097e-02 1.14859754e+02] [-3.98127596e-01 9.17162187e-01 1.75482132e-02 -4.44627678e+01] [ 7.31134170e-02 1.26571187e-02 9.97243313e-01 -5.06756908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:-44.48, Z:-5.06 [[ 9.16123179e-01 3.95018824e-01 -6.83991929e-02 1.14883895e+02] [-3.93240830e-01 9.18636290e-01 3.83277609e-02 -4.44826444e+01] [ 7.79741679e-02 -8.21559479e-03 9.96921528e-01 -5.05721788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:-44.49, Z:-5.06 [[ 9.15885733e-01 3.94841970e-01 -7.24785682e-02 1.14912204e+02] [-3.93664211e-01 9.18748844e-01 3.04803179e-02 -4.44918473e+01] [ 7.86245095e-02 6.15730069e-04 9.96904111e-01 -5.05629097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:-44.51, Z:-5.04 [[ 9.14448270e-01 3.97593427e-01 -7.55236898e-02 1.14934080e+02] [-3.95437059e-01 9.17519532e-01 4.22781265e-02 -4.45113296e+01] [ 8.61039657e-02 -8.79629389e-03 9.96247325e-01 -5.04291102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:-44.52, Z:-5.05 [[ 9.16136428e-01 3.94049450e-01 -7.36143728e-02 1.14962227e+02] [-3.92777010e-01 9.19089237e-01 3.16416536e-02 -4.45155593e+01] [ 8.01265539e-02 -7.40382734e-05 9.96784696e-01 -5.04893698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-44.54, Z:-5.04 [[ 9.14143324e-01 3.98767999e-01 -7.29799078e-02 1.14983892e+02] [-3.96308135e-01 9.16955524e-01 4.61782381e-02 -4.45386517e+01] [ 8.53337332e-02 -1.32909969e-02 9.96263772e-01 -5.03678125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:-44.53, Z:-5.05 [[ 9.16050333e-01 3.92987268e-01 -8.00799321e-02 1.15016241e+02] [-3.92918839e-01 9.19410887e-01 1.72744766e-02 -4.45299338e+01] [ 8.04150108e-02 1.56406239e-02 9.96638749e-01 -5.04980725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:-44.55, Z:-5.05 [[ 9.16296587e-01 3.93551577e-01 -7.42813658e-02 1.15038683e+02] [-3.92662309e-01 9.19291136e-01 2.68350342e-02 -4.45455707e+01] [ 7.88471712e-02 4.57864239e-03 9.96876201e-01 -5.04856882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:-44.58, Z:-5.03 [[ 9.13161774e-01 4.01738206e-01 -6.88620984e-02 1.15058592e+02] [-3.98426697e-01 9.15421368e-01 5.70954040e-02 -4.45807793e+01] [ 8.59752416e-02 -2.47008420e-02 9.95991027e-01 -5.02764163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:-44.56, Z:-5.05 [[ 9.15351911e-01 3.94431124e-01 -8.09627574e-02 1.15093994e+02] [-3.94714795e-01 9.18709580e-01 1.31506156e-02 -4.45617075e+01] [ 7.95682730e-02 1.99197571e-02 9.96630369e-01 -5.04573092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:-44.59, Z:-5.04 [[ 9.14739931e-01 3.97893438e-01 -7.02258604e-02 1.15110989e+02] [-3.95821140e-01 9.17371183e-01 4.19015268e-02 -4.45900750e+01] [ 8.10955232e-02 -1.05321196e-02 9.96650686e-01 -5.03542754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:-44.60, Z:-5.04 [[ 9.14767062e-01 3.97059494e-01 -7.44646252e-02 1.15139288e+02] [-3.95766947e-01 9.17792854e-01 3.20125012e-02 -4.45966762e+01] [ 8.10539684e-02 1.86655724e-04 9.96709697e-01 -5.03532189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:-44.63, Z:-5.02 [[ 9.12777480e-01 4.01758365e-01 -7.36714827e-02 1.15162090e+02] [-3.99175371e-01 9.15638039e-01 4.76025822e-02 -4.46256544e+01] [ 8.65811476e-02 -1.40427236e-02 9.96145826e-01 -5.01979908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:-44.63, Z:-5.02 [[ 9.13957275e-01 3.98618072e-01 -7.60640052e-02 1.15186943e+02] [-3.96234211e-01 9.17052654e-01 4.48651345e-02 -4.46320154e+01] [ 8.76387512e-02 -1.08656550e-02 9.96093061e-01 -5.01879532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.22, Y:-44.63, Z:-5.03 [[ 9.15503688e-01 3.93323802e-01 -8.45540300e-02 1.15219156e+02] [-3.93484646e-01 9.19201213e-01 1.54584102e-02 -4.46261532e+01] [ 8.38023276e-02 1.91184811e-02 9.96298978e-01 -5.03004064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:-44.66, Z:-5.02 [[ 9.14783035e-01 3.96424989e-01 -7.75836806e-02 1.15237532e+02] [-3.94318273e-01 9.18037742e-01 4.14705181e-02 -4.46556646e+01] [ 8.76646967e-02 -7.34386342e-03 9.96122969e-01 -5.01569412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:-44.66, Z:-5.01 [[ 9.14662857e-01 3.95907412e-01 -8.15424961e-02 1.15264311e+02] [-3.94321195e-01 9.18290405e-01 3.54051873e-02 -4.46643263e+01] [ 8.88968678e-02 -2.29875283e-04 9.96040809e-01 -5.01367443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:-44.68, Z:-5.01 [[ 9.14102204e-01 3.98508554e-01 -7.48872047e-02 1.15289470e+02] [-3.96461383e-01 9.17130729e-01 4.11047079e-02 -4.46848862e+01] [ 8.50619344e-02 -7.88401935e-03 9.96344473e-01 -5.00778431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:-44.69, Z:-5.01 [[ 9.14721030e-01 3.95899841e-01 -8.09243607e-02 1.15316552e+02] [-3.94917759e-01 9.18274735e-01 2.84863810e-02 -4.46859462e+01] [ 8.55885496e-02 5.90137546e-03 9.96313090e-01 -5.01215957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:-44.71, Z:-5.00 [[ 9.14076681e-01 3.98982489e-01 -7.26415564e-02 1.15339296e+02] [-3.96889355e-01 9.16909663e-01 4.18988148e-02 -4.47102659e+01] [ 8.33226384e-02 -9.46806908e-03 9.96477643e-01 -5.00296524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:-44.72, Z:-5.00 [[ 9.14134108e-01 3.98352099e-01 -7.53288643e-02 1.15366008e+02] [-3.96833443e-01 9.17230565e-01 3.48038637e-02 -4.47186616e+01] [ 8.29581290e-02 -1.92238631e-03 9.96551179e-01 -5.00221196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:-44.73, Z:-5.00 [[ 9.14158439e-01 3.98311173e-01 -7.52499741e-02 1.15390646e+02] [-3.96796341e-01 9.17248353e-01 3.47580623e-02 -4.47309163e+01] [ 8.28674393e-02 -1.91546155e-03 9.96558738e-01 -4.99989027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:-44.74, Z:-5.00 [[ 9.14846133e-01 3.96967391e-01 -7.39827276e-02 1.15415366e+02] [-3.95500525e-01 9.17830570e-01 3.41522999e-02 -4.47402557e+01] [ 8.14609584e-02 -1.98389183e-03 9.96674559e-01 -5.00166077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:-44.75, Z:-5.00 [[ 9.14524203e-01 3.97518520e-01 -7.49967268e-02 1.15442904e+02] [-3.96061294e-01 9.17593047e-01 3.40360307e-02 -4.47530093e+01] [ 8.23464276e-02 -1.42347315e-03 9.96602749e-01 -4.99863666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:-44.76, Z:-5.00 [[ 9.14238476e-01 3.97756113e-01 -7.71886233e-02 1.15468779e+02] [-3.97109345e-01 9.17451709e-01 2.42183816e-02 -4.47595649e+01] [ 8.04498437e-02 8.51094733e-03 9.96722322e-01 -5.00178292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:-44.78, Z:-4.99 [[ 9.12724163e-01 4.02201312e-01 -7.18937244e-02 1.15488861e+02] [-3.99936766e-01 9.15478390e-01 4.41576794e-02 -4.47849519e+01] [ 8.35774277e-02 -1.15508373e-02 9.96434339e-01 -4.98953658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:-44.79, Z:-4.99 [[ 9.12334401e-01 4.02216985e-01 -7.65991997e-02 1.15517589e+02] [-4.00663764e-01 9.15543045e-01 3.53479927e-02 -4.47916938e+01] [ 8.43474276e-02 -1.55866604e-03 9.96435187e-01 -4.99121556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:-44.80, Z:-4.99 [[ 9.11272870e-01 4.04629613e-01 -7.65286417e-02 1.15541875e+02] [-4.03088307e-01 9.14479695e-01 3.53086991e-02 -4.48047457e+01] [ 8.42708341e-02 -1.32805894e-03 9.96442002e-01 -4.98688972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:-44.82, Z:-4.99 [[ 9.09586322e-01 4.08191227e-01 -7.76701047e-02 1.15565643e+02] [-4.06617192e-01 9.12895893e-01 3.58266348e-02 -4.48168396e+01] [ 8.55288376e-02 -1.00541712e-03 9.96335188e-01 -4.98515966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:-44.83, Z:-4.98 [[ 9.08873137e-01 4.09638154e-01 -7.83977268e-02 1.15590338e+02] [-4.08040804e-01 9.12247681e-01 3.61506724e-02 -4.48290673e+01] [ 8.63268391e-02 -8.66903541e-04 9.96266493e-01 -4.98313806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:-44.84, Z:-4.98 [[ 9.08180587e-01 4.11136363e-01 -7.85806123e-02 1.15614907e+02] [-4.09537986e-01 9.11573572e-01 3.62251560e-02 -4.48417288e+01] [ 8.65254883e-02 -7.17237723e-04 9.96249379e-01 -4.98105717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:-44.86, Z:-4.98 [[ 9.07300811e-01 4.13076419e-01 -7.85691433e-02 1.15637538e+02] [-4.11486617e-01 9.10696216e-01 3.62100266e-02 -4.48560364e+01] [ 8.65101296e-02 -5.23235558e-04 9.96250834e-01 -4.97914895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:-44.87, Z:-4.98 [[ 9.06942435e-01 4.13040442e-01 -8.27829217e-02 1.15664000e+02] [-4.11960593e-01 9.10690090e-01 3.05291630e-02 -4.48663602e+01] [ 8.79993653e-02 6.41510811e-03 9.96099874e-01 -4.97837476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:-44.89, Z:-4.97 [[ 9.07165290e-01 4.13998315e-01 -7.52099178e-02 1.15684924e+02] [-4.11911406e-01 9.10248754e-01 4.21449806e-02 -4.48870204e+01] [ 8.59076850e-02 -7.25264058e-03 9.96276703e-01 -4.97294935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:-44.90, Z:-4.97 [[ 9.07331318e-01 4.13128866e-01 -7.79385652e-02 1.15710560e+02] [-4.11568571e-01 9.10672453e-01 3.58747191e-02 -4.48970911e+01] [ 8.57973863e-02 -4.73192311e-04 9.96312493e-01 -4.97151820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:-44.91, Z:-4.97 [[ 9.07581467e-01 4.12647584e-01 -7.75748147e-02 1.15733197e+02] [-4.11100899e-01 9.10890616e-01 3.56978586e-02 -4.49122648e+01] [ 8.53928058e-02 -5.07638837e-04 9.96347234e-01 -4.96950349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:-44.93, Z:-4.97 [[ 9.07618583e-01 4.12625521e-01 -7.72572791e-02 1.15758681e+02] [-4.11092345e-01 9.10900616e-01 3.55408485e-02 -4.49262322e+01] [ 8.50387642e-02 -4.97658484e-04 9.96377519e-01 -4.96692342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.78, Y:-44.94, Z:-4.96 [[ 9.07571715e-01 4.12829989e-01 -7.67136323e-02 1.15783952e+02] [-4.11319626e-01 9.10807982e-01 3.52843564e-02 -4.49403895e+01] [ 8.44378291e-02 -4.69261348e-04 9.96428639e-01 -4.96425346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:-44.95, Z:-4.96 [[ 9.07441035e-01 4.12027137e-01 -8.23675100e-02 1.15811631e+02] [-4.11357574e-01 9.11110717e-01 2.57334148e-02 -4.49488399e+01] [ 8.56487863e-02 1.05309425e-02 9.96269735e-01 -4.96422491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:-44.97, Z:-4.96 [[ 9.07479985e-01 4.12827470e-01 -7.78046108e-02 1.15835494e+02] [-4.11251086e-01 9.10808962e-01 3.60496684e-02 -4.49666844e+01] [ 8.57474303e-02 -7.17121876e-04 9.96316648e-01 -4.95929547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:-44.99, Z:-4.95 [[ 9.07291996e-01 4.14491140e-01 -7.08401592e-02 1.15856975e+02] [-4.12253281e-01 9.09985651e-01 4.44223678e-02 -4.49894295e+01] [ 8.28762063e-02 -1.10999707e-02 9.96498031e-01 -4.95384695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:-45.00, Z:-4.95 [[ 9.07047695e-01 4.14209466e-01 -7.54652064e-02 1.15886660e+02] [-4.12754522e-01 9.10181531e-01 3.46884105e-02 -4.49999644e+01] [ 8.30553051e-02 -3.15437588e-04 9.96544890e-01 -4.95371332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:-45.02, Z:-4.95 [[ 9.06476778e-01 4.14670032e-01 -7.96782018e-02 1.15914300e+02] [-4.13578813e-01 9.09956508e-01 3.05240908e-02 -4.50160621e+01] [ 8.51611240e-02 5.28383660e-03 9.96353182e-01 -4.95253295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:-45.03, Z:-4.95 [[ 9.06373681e-01 4.14529832e-01 -8.15583804e-02 1.15942264e+02] [-4.13432576e-01 9.10016701e-01 3.07100774e-02 -4.50317271e+01] [ 8.69497315e-02 5.88408544e-03 9.96195323e-01 -4.95007579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:-45.06, Z:-4.94 [[ 9.05166287e-01 4.17680053e-01 -7.88502822e-02 1.15963038e+02] [-4.14948192e-01 9.08518324e-01 4.91167263e-02 -4.50564644e+01] [ 9.21520031e-02 -1.17400228e-02 9.95675740e-01 -4.93764367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:-45.07, Z:-4.94 [[ 9.06381956e-01 4.15604624e-01 -7.57927872e-02 1.15994173e+02] [-4.14137380e-01 9.09545348e-01 3.48925499e-02 -4.50657077e+01] [ 8.34384821e-02 -2.37351341e-04 9.96512902e-01 -4.94307382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:-45.09, Z:-4.94 [[ 9.06220076e-01 4.15981426e-01 -7.56612640e-02 1.16021388e+02] [-4.14520385e-01 9.09373087e-01 3.48344568e-02 -4.50851333e+01] [ 8.32948042e-02 -2.04547814e-04 9.96524929e-01 -4.93986187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:-45.10, Z:-4.94 [[ 9.06185872e-01 4.16047435e-01 -7.57079696e-02 1.16048647e+02] [-4.14582665e-01 9.09342885e-01 3.48816806e-02 -4.51010419e+01] [ 8.33569372e-02 -2.22074385e-04 9.96519730e-01 -4.93696797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:-45.13, Z:-4.92 [[ 9.05212812e-01 4.19082694e-01 -7.04234310e-02 1.16069374e+02] [-4.15263776e-01 9.07526784e-01 6.28580428e-02 -4.51319681e+01] [ 9.02538678e-02 -2.76556059e-02 9.95534734e-01 -4.91999046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.11, Y:-45.12, Z:-4.94 [[ 9.06410260e-01 4.13259149e-01 -8.73917464e-02 1.16109888e+02] [-4.14045564e-01 9.10203600e-01 9.78144262e-03 -4.51186149e+01] [ 8.35865529e-02 2.73181650e-02 9.96125999e-01 -4.93899238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:-45.16, Z:-4.92 [[ 9.06231490e-01 4.16427825e-01 -7.30229608e-02 1.16124828e+02] [-4.13303181e-01 9.08968058e-01 5.43833576e-02 -4.51619702e+01] [ 8.90222822e-02 -1.91032892e-02 9.95846423e-01 -4.91886578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:-45.17, Z:-4.92 [[ 9.06667104e-01 4.13785489e-01 -8.20751629e-02 1.16157295e+02] [-4.12171355e-01 9.10374129e-01 3.65201321e-02 -4.51679392e+01] [ 8.98306056e-02 7.17428704e-04 9.95956800e-01 -4.92175532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:-45.17, Z:-4.93 [[ 9.07808792e-01 4.10705246e-01 -8.48787301e-02 1.16188532e+02] [-4.10608978e-01 9.11605145e-01 1.93991510e-02 -4.51740890e+01] [ 8.53432202e-02 1.72412488e-02 9.96202426e-01 -4.92873230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:-45.20, Z:-4.92 [[ 9.08417056e-01 4.10639330e-01 -7.84461124e-02 1.16209828e+02] [-4.09035765e-01 9.11797459e-01 3.62648034e-02 -4.52017471e+01] [ 8.64187205e-02 -8.56300365e-04 9.96258536e-01 -4.92064609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:-45.22, Z:-4.92 [[ 9.08678602e-01 4.10096133e-01 -7.82582931e-02 1.16238027e+02] [-4.08496145e-01 9.12041831e-01 3.62021916e-02 -4.52181533e+01] [ 8.62212156e-02 -9.27945793e-04 9.96275585e-01 -4.91777696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:-45.23, Z:-4.91 [[ 9.09060694e-01 4.09271069e-01 -7.81399132e-02 1.16267053e+02] [-4.07670678e-01 9.12412262e-01 3.61729610e-02 -4.52346052e+01] [ 8.61003614e-02 -1.02806566e-03 9.96285938e-01 -4.91478805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.30, Y:-45.25, Z:-4.91 [[ 9.09298944e-01 4.08461862e-01 -7.95885531e-02 1.16295848e+02] [-4.06795978e-01 9.12774663e-01 3.68706856e-02 -4.52508595e+01] [ 8.77066836e-02 -1.15017220e-03 9.96145679e-01 -4.91145412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.32, Y:-45.27, Z:-4.91 [[ 9.10311135e-01 4.06431367e-01 -7.84039656e-02 1.16324059e+02] [-4.04804955e-01 9.13680316e-01 3.63486979e-02 -4.52684136e+01] [ 8.64094111e-02 -1.35031060e-03 9.96258797e-01 -4.90898344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:-45.28, Z:-4.91 [[ 9.10619724e-01 4.05866064e-01 -7.77460966e-02 1.16352164e+02] [-4.04262544e-01 9.13931470e-01 3.60702693e-02 -4.52840206e+01] [ 8.56943026e-02 -1.41646395e-03 9.96320471e-01 -4.90661340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:-45.30, Z:-4.90 [[ 9.10169359e-01 4.06402295e-01 -8.01804991e-02 1.16380299e+02] [-4.04696287e-01 9.13693121e-01 3.72262694e-02 -4.53008955e+01] [ 8.83892118e-02 -1.43345947e-03 9.96084983e-01 -4.90051481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:-45.32, Z:-4.90 [[ 9.10691932e-01 4.05978083e-01 -7.63020409e-02 1.16408201e+02] [-4.04429878e-01 9.13881702e-01 3.54500963e-02 -4.53157238e+01] [ 8.41230011e-02 -1.42529156e-03 9.96454359e-01 -4.90030878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-45.33, Z:-4.90 [[ 9.10580507e-01 4.06151100e-01 -7.67099995e-02 1.16435212e+02] [-4.04584819e-01 9.13804800e-01 3.56638604e-02 -4.53327725e+01] [ 8.45828819e-02 -1.43911484e-03 9.96415408e-01 -4.89767570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:-45.35, Z:-4.90 [[ 9.10415522e-01 4.06592194e-01 -7.63306279e-02 1.16464403e+02] [-4.05040973e-01 9.13608665e-01 3.55108107e-02 -4.53486426e+01] [ 8.41747415e-02 -1.41256152e-03 9.96450008e-01 -4.89502103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:-45.36, Z:-4.89 [[ 9.10251470e-01 4.06991662e-01 -7.61580517e-02 1.16492356e+02] [-4.05446711e-01 9.13430807e-01 3.54559686e-02 -4.53637221e+01] [ 8.39953942e-02 -1.39581589e-03 9.96465165e-01 -4.89200668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:-45.38, Z:-4.89 [[ 9.09808862e-01 4.08049999e-01 -7.57828007e-02 1.16520074e+02] [-4.06522643e-01 9.12958648e-01 3.52965682e-02 -4.53799090e+01] [ 8.35893279e-02 -1.30570607e-03 9.96499433e-01 -4.88896547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:-45.39, Z:-4.89 [[ 9.09299711e-01 4.08471195e-01 -7.95318762e-02 1.16549458e+02] [-4.07433768e-01 9.12754740e-01 2.96058946e-02 -4.53911527e+01] [ 8.46862521e-02 5.48334058e-03 9.96392579e-01 -4.88894933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:-45.41, Z:-4.88 [[ 9.09436924e-01 4.09613290e-01 -7.17037890e-02 1.16574148e+02] [-4.07662779e-01 9.12226263e-01 4.06731210e-02 -4.54138901e+01] [ 8.20703304e-02 -7.75867212e-03 9.96596339e-01 -4.88219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:-45.42, Z:-4.89 [[ 9.09063727e-01 4.08479466e-01 -8.21441757e-02 1.16607302e+02] [-4.07760538e-01 9.12715379e-01 2.61147636e-02 -4.54202303e+01] [ 8.56415971e-02 9.75516890e-03 9.96278251e-01 -4.88522142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:-45.45, Z:-4.88 [[ 9.09055906e-01 4.10597272e-01 -7.09030364e-02 1.16629711e+02] [-4.08313445e-01 9.11740447e-01 4.48273025e-02 -4.54462871e+01] [ 8.30511343e-02 -1.17998610e-02 9.96475425e-01 -4.87561573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:-45.46, Z:-4.88 [[ 9.08927309e-01 4.10093270e-01 -7.53303133e-02 1.16659409e+02] [-4.08584292e-01 9.12042818e-01 3.51677899e-02 -4.54583518e+01] [ 8.31265452e-02 -1.18618194e-03 9.96538294e-01 -4.87619150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:-45.47, Z:-4.87 [[ 9.08931512e-01 4.10053499e-01 -7.54959229e-02 1.16688535e+02] [-4.08535755e-01 9.12060663e-01 3.52687295e-02 -4.54737824e+01] [ 8.33189275e-02 -1.21407573e-03 9.96522194e-01 -4.87381831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-45.49, Z:-4.87 [[ 9.08875096e-01 4.10108996e-01 -7.58727316e-02 1.16717649e+02] [-4.08574061e-01 9.12035677e-01 3.54705487e-02 -4.54891793e+01] [ 8.37454293e-02 -1.23866831e-03 9.96486412e-01 -4.87124355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:-45.50, Z:-4.87 [[ 9.08951153e-01 4.09855398e-01 -7.63305622e-02 1.16745471e+02] [-4.08298747e-01 9.12149592e-01 3.57107021e-02 -4.55038636e+01] [ 8.42611153e-02 -1.29361090e-03 9.96442869e-01 -4.86893765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:-45.52, Z:-4.87 [[ 9.09198883e-01 4.09263388e-01 -7.65563203e-02 1.16774181e+02] [-4.07693347e-01 9.12415251e-01 3.58405559e-02 -4.55204781e+01] [ 8.45193815e-02 -1.37469093e-03 9.96420887e-01 -4.86645267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:-45.54, Z:-4.86 [[ 9.09215264e-01 4.09211005e-01 -7.66417451e-02 1.16803200e+02] [-4.07635064e-01 9.12438699e-01 3.59064707e-02 -4.55356155e+01] [ 8.46242172e-02 -1.40484851e-03 9.96411947e-01 -4.86435430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:-45.55, Z:-4.86 [[ 9.09261449e-01 4.09030964e-01 -7.70537927e-02 1.16831508e+02] [-4.07435116e-01 9.12519347e-01 3.61257224e-02 -4.55503359e+01] [ 8.50896157e-02 -1.45330568e-03 9.96372242e-01 -4.86121415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:-45.57, Z:-4.86 [[ 9.09135155e-01 4.09364325e-01 -7.67731653e-02 1.16860164e+02] [-4.07779242e-01 9.12369869e-01 3.60182053e-02 -4.55670905e+01] [ 8.47900911e-02 -1.43891349e-03 9.96397797e-01 -4.85843289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:-45.58, Z:-4.86 [[ 9.08951585e-01 4.09839284e-01 -7.64119009e-02 1.16888734e+02] [-4.08268594e-01 9.12156658e-01 3.58745960e-02 -4.55818826e+01] [ 8.44024429e-02 -1.41169157e-03 9.96430748e-01 -4.85589423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.92, Y:-45.60, Z:-4.85 [[ 9.08712277e-01 4.10377933e-01 -7.63672084e-02 1.16918131e+02] [-4.08808937e-01 9.11914492e-01 3.58777563e-02 -4.55965749e+01] [ 8.43638034e-02 -1.38296039e-03 9.96434060e-01 -4.85318592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:-45.61, Z:-4.85 [[ 9.08387090e-01 4.11116710e-01 -7.62623442e-02 1.16947123e+02] [-4.09552448e-01 9.11581738e-01 3.58542435e-02 -4.56108109e+01] [ 8.42596390e-02 -1.33610222e-03 9.96442938e-01 -4.85080984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:-45.63, Z:-4.85 [[ 9.07860960e-01 4.12249073e-01 -7.64145173e-02 1.16976501e+02] [-4.10680521e-01 9.11070319e-01 3.59497377e-02 -4.56261693e+01] [ 8.44392447e-02 -1.25540960e-03 9.96427839e-01 -4.84859068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:-45.64, Z:-4.85 [[ 9.07569616e-01 4.12858307e-01 -7.65859701e-02 1.17005657e+02] [-4.11282717e-01 9.10794444e-01 3.60556189e-02 -4.56416008e+01] [ 8.46399378e-02 -1.22449840e-03 9.96410850e-01 -4.84565693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:-45.66, Z:-4.84 [[ 9.07348314e-01 4.13262432e-01 -7.70272658e-02 1.17033914e+02] [-4.11667870e-01 9.10611158e-01 3.62888903e-02 -4.56566098e+01] [ 8.51387228e-02 -1.21701299e-03 9.96368364e-01 -4.84266072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:-45.67, Z:-4.84 [[ 9.08489924e-01 4.11077113e-01 -7.52440438e-02 1.17058705e+02] [-4.09104082e-01 9.11579530e-01 4.07014941e-02 -4.56704996e+01] [ 8.53223828e-02 -6.19425183e-03 9.96334142e-01 -4.84048658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:-45.68, Z:-4.84 [[ 9.07206382e-01 4.12960085e-01 -8.02530302e-02 1.17091011e+02] [-4.11763303e-01 9.10739066e-01 3.17070385e-02 -4.56846926e+01] [ 8.61833111e-02 4.28042518e-03 9.96270101e-01 -4.83887832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:-45.70, Z:-4.83 [[ 9.07118432e-01 4.13494249e-01 -7.84771112e-02 1.17118773e+02] [-4.11834202e-01 9.10505835e-01 3.70366710e-02 -4.57025310e+01] [ 8.67683181e-02 -1.27708846e-03 9.96227699e-01 -4.83423866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:-45.72, Z:-4.83 [[ 9.07072064e-01 4.13502709e-01 -7.89669532e-02 1.17146561e+02] [-4.11819632e-01 9.10501949e-01 3.72933122e-02 -4.57183705e+01] [ 8.73204504e-02 -1.30758012e-03 9.96179416e-01 -4.83188718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:-45.73, Z:-4.83 [[ 9.07120877e-01 4.13377417e-01 -7.90621694e-02 1.17175418e+02] [-4.11687719e-01 9.10558789e-01 3.73619297e-02 -4.57336788e+01] [ 8.74353312e-02 -1.34286224e-03 9.96169293e-01 -4.82909366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:-45.75, Z:-4.83 [[ 9.07207946e-01 4.13200061e-01 -7.89902034e-02 1.17204237e+02] [-4.11510539e-01 9.10639226e-01 3.73534089e-02 -4.57492030e+01] [ 8.73660085e-02 -1.38200820e-03 9.96175321e-01 -4.82630670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:-45.76, Z:-4.82 [[ 9.07353099e-01 4.12915043e-01 -7.88132022e-02 1.17233278e+02] [-4.11229805e-01 9.10768425e-01 3.72950849e-02 -4.57648297e+01] [ 8.71802776e-02 -1.42947309e-03 9.96191526e-01 -4.82356324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:-45.78, Z:-4.82 [[ 9.07494893e-01 4.12581459e-01 -7.89275576e-02 1.17261375e+02] [-4.10887822e-01 9.10919496e-01 3.73747138e-02 -4.57800852e+01] [ 8.73167650e-02 -1.48698965e-03 9.96179488e-01 -4.82078863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:-45.80, Z:-4.82 [[ 9.08279607e-01 4.10820304e-01 -7.90875049e-02 1.17289845e+02] [-4.09111020e-01 9.11714785e-01 3.74743018e-02 -4.57971669e+01] [ 8.75004516e-02 -1.68157424e-03 9.96163061e-01 -4.81784198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-45.81, Z:-4.82 [[ 9.08629319e-01 4.10058207e-01 -7.90254883e-02 1.17318210e+02] [-4.08346540e-01 9.12057625e-01 3.74698944e-02 -4.58125811e+01] [ 8.74406369e-02 -1.77645994e-03 9.96168148e-01 -4.81520348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:-45.83, Z:-4.81 [[ 9.09139724e-01 4.08913881e-01 -7.90847591e-02 1.17345256e+02] [-4.07193269e-01 9.12570979e-01 3.75213173e-02 -4.58289962e+01] [ 8.75134436e-02 -1.90933846e-03 9.96161509e-01 -4.81253852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:117.37, Y:-45.84, Z:-4.81 [[ 9.09125504e-01 4.09024196e-01 -7.86767137e-02 1.17374117e+02] [-4.07319744e-01 9.12521539e-01 3.73505910e-02 -4.58443971e+01] [ 8.70714913e-02 -1.90979596e-03 9.96200235e-01 -4.80982316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.40, Y:-45.86, Z:-4.81 [[ 9.09088954e-01 4.09148763e-01 -7.84510251e-02 1.17402869e+02] [-4.07452283e-01 9.12465680e-01 3.72695576e-02 -4.58593671e+01] [ 8.68326613e-02 -1.91629389e-03 9.96221068e-01 -4.80687571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:-45.87, Z:-4.80 [[ 9.09264759e-01 4.08676563e-01 -7.88737219e-02 1.17432635e+02] [-4.06957615e-01 9.12677096e-01 3.74969163e-02 -4.58733882e+01] [ 8.73103503e-02 -1.99636290e-03 9.96179159e-01 -4.80467419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.46, Y:-45.89, Z:-4.80 [[ 9.08194096e-01 4.11150037e-01 -7.83526098e-02 1.17460265e+02] [-4.09461877e-01 9.11565991e-01 3.72614513e-02 -4.58901805e+01] [ 8.67436215e-02 -1.75822337e-03 9.96229117e-01 -4.80155239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:-45.90, Z:-4.80 [[ 9.07609596e-01 4.12464762e-01 -7.82153514e-02 1.17489586e+02] [-4.10785106e-01 9.10972055e-01 3.72224553e-02 -4.59044853e+01] [ 8.66049506e-02 -1.65375626e-03 9.96241360e-01 -4.79882959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:-45.92, Z:-4.80 [[ 9.06965619e-01 4.13940753e-01 -7.78872148e-02 1.17517968e+02] [-4.12278328e-01 9.10302538e-01 3.70927296e-02 -4.59178580e+01] [ 8.62551217e-02 -1.53061977e-03 9.96271906e-01 -4.79629795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.55, Y:-45.93, Z:-4.79 [[ 9.05788909e-01 4.16562754e-01 -7.76010604e-02 1.17547255e+02] [-4.14920731e-01 9.09106047e-01 3.69727221e-02 -4.59321618e+01] [ 8.59490522e-02 -1.29119287e-03 9.96298697e-01 -4.79296820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:-45.94, Z:-4.79 [[ 9.05441096e-01 4.16571363e-01 -8.15151570e-02 1.17579271e+02] [-4.15314689e-01 9.09092760e-01 3.26199863e-02 -4.59440564e+01] [ 8.76933912e-02 4.31896590e-03 9.96138151e-01 -4.79202474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:-45.96, Z:-4.78 [[ 9.04773611e-01 4.19194313e-01 -7.52385629e-02 1.17605031e+02] [-4.17114809e-01 9.07870664e-01 4.22621965e-02 -4.59634490e+01] [ 8.60229565e-02 -6.85460129e-03 9.96269575e-01 -4.78496604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:-45.98, Z:-4.78 [[ 9.04690429e-01 4.18922514e-01 -7.77119969e-02 1.17636620e+02] [-4.17279585e-01 9.08021295e-01 3.70820131e-02 -4.59750276e+01] [ 8.60986382e-02 -1.12011250e-03 9.96285988e-01 -4.78409876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.66, Y:-46.00, Z:-4.77 [[ 9.03101302e-01 4.23259357e-01 -7.25227839e-02 1.17660964e+02] [-4.19730203e-01 9.05715831e-01 5.92063286e-02 -4.60015986e+01] [ 9.07446662e-02 -2.30293096e-02 9.95607883e-01 -4.76858657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.70, Y:-45.99, Z:-4.79 [[ 9.03411168e-01 4.19666533e-01 -8.79105393e-02 1.17700593e+02] [-4.19827835e-01 9.07434123e-01 1.75471264e-02 -4.59908451e+01] [ 8.71369648e-02 2.10550215e-02 9.95973813e-01 -4.78670379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.72, Y:-46.02, Z:-4.78 [[ 9.03076967e-01 4.22227833e-01 -7.85852998e-02 1.17724198e+02] [-4.20555532e-01 9.06489334e-01 3.75517204e-02 -4.60153404e+01] [ 8.70921176e-02 -8.62611212e-04 9.96199889e-01 -4.77617348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.75, Y:-46.03, Z:-4.77 [[ 9.02939032e-01 4.22569296e-01 -7.83345019e-02 1.17753717e+02] [-4.20906701e-01 9.06330219e-01 3.74577468e-02 -4.60277840e+01] [ 8.68254200e-02 -8.50544924e-04 9.96223179e-01 -4.77374578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:-46.04, Z:-4.77 [[ 9.02656406e-01 4.22826989e-01 -8.01794871e-02 1.17783152e+02] [-4.21083740e-01 9.06210011e-01 3.83653585e-02 -4.60420608e+01] [ 8.88813629e-02 -8.68458338e-04 9.96041841e-01 -4.76976787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:-46.06, Z:-4.77 [[ 9.02904697e-01 4.22621602e-01 -7.84480113e-02 1.17812698e+02] [-4.20949856e-01 9.06305789e-01 3.75637644e-02 -4.60551419e+01] [ 8.69731451e-02 -8.93820210e-04 9.96210255e-01 -4.76791080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:-46.07, Z:-4.77 [[ 9.03490489e-01 4.21498739e-01 -7.77415553e-02 1.17842552e+02] [-4.19850707e-01 9.06828419e-01 3.72505410e-02 -4.60691666e+01] [ 8.61993077e-02 -1.01566255e-03 9.96277395e-01 -4.76525588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:-46.08, Z:-4.76 [[ 9.03529698e-01 4.21026113e-01 -7.98191553e-02 1.17871485e+02] [-4.19284312e-01 9.07047832e-01 3.82739679e-02 -4.60842202e+01] [ 8.85141317e-02 -1.11474703e-03 9.96074297e-01 -4.76138091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.90, Y:-46.10, Z:-4.76 [[ 9.04276938e-01 4.19771940e-01 -7.79406108e-02 1.17900686e+02] [-4.18104319e-01 9.07628778e-01 3.74002653e-02 -4.60976737e+01] [ 8.64407232e-02 -1.23289136e-03 9.96256233e-01 -4.75974127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.93, Y:-46.11, Z:-4.76 [[ 9.04755834e-01 4.18580389e-01 -7.87866648e-02 1.17929554e+02] [-4.16869475e-01 9.08178693e-01 3.78325597e-02 -4.61123994e+01] [ 8.73883378e-02 -1.38547361e-03 9.96173358e-01 -4.75734790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:117.96, Y:-46.13, Z:-4.75 [[ 9.05928551e-01 4.16103192e-01 -7.84320972e-02 1.17957933e+02] [-4.14396048e-01 9.09315918e-01 3.76892194e-02 -4.61260226e+01] [ 8.70021590e-02 -1.64178874e-03 9.96206770e-01 -4.75491067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:-46.14, Z:-4.75 [[ 9.06488620e-01 4.14785423e-01 -7.89394362e-02 1.17987354e+02] [-4.13048846e-01 9.09917470e-01 3.79585212e-02 -4.61404083e+01] [ 8.75730133e-02 -1.80312446e-03 9.96156472e-01 -4.75178658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:-46.15, Z:-4.75 [[ 9.06895214e-01 4.13778390e-01 -7.95519664e-02 1.18016082e+02] [-4.12008450e-01 9.10375572e-01 3.82799677e-02 -4.61545461e+01] [ 8.82615903e-02 -1.93983714e-03 9.96095442e-01 -4.74939066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.05, Y:-46.17, Z:-4.75 [[ 9.07331350e-01 4.12437824e-01 -8.15160250e-02 1.18045105e+02] [-4.10572181e-01 9.10983243e-01 3.92430221e-02 -4.61697394e+01] [ 9.04450395e-02 -2.13821209e-03 9.95899153e-01 -4.74620453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:-46.18, Z:-4.74 [[ 9.07648047e-01 4.12181131e-01 -7.92574183e-02 1.18074201e+02] [-4.10414401e-01 9.11099441e-01 3.81815146e-02 -4.61817354e+01] [ 8.79490894e-02 -2.12699132e-03 9.96122700e-01 -4.74413451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.10, Y:-46.20, Z:-4.74 [[ 9.07585133e-01 4.12342014e-01 -7.91409526e-02 1.18104174e+02] [-4.10578925e-01 9.11026631e-01 3.81500113e-02 -4.61958920e+01] [ 8.78303679e-02 -2.13077582e-03 9.96133167e-01 -4.74133745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.13, Y:-46.21, Z:-4.74 [[ 9.07322503e-01 4.12743343e-01 -8.00550336e-02 1.18131954e+02] [-4.10938347e-01 9.10844855e-01 3.86176906e-02 -4.62105243e+01] [ 8.88569102e-02 -2.14101651e-03 9.96042100e-01 -4.73870660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:-46.22, Z:-4.74 [[ 9.07307643e-01 4.13060269e-01 -7.85751535e-02 1.18161972e+02] [-4.11320611e-01 9.10701287e-01 3.79278255e-02 -4.62235692e+01] [ 8.72249713e-02 -2.09262580e-03 9.96186441e-01 -4.73557480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.19, Y:-46.24, Z:-4.73 [[ 9.07053948e-01 4.13613819e-01 -7.85922707e-02 1.18190726e+02] [-4.11873172e-01 9.10450081e-01 3.79623613e-02 -4.62371262e+01] [ 8.72560964e-02 -2.06386186e-03 9.96183775e-01 -4.73214501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-46.25, Z:-4.73 [[ 9.06508634e-01 4.14708816e-01 -7.91119079e-02 1.18220525e+02] [-4.12946995e-01 9.09951988e-01 3.82381771e-02 -4.62507880e+01] [ 8.78457470e-02 -1.99421305e-03 9.96132094e-01 -4.73040086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-46.26, Z:-4.73 [[ 9.06035669e-01 4.15737121e-01 -7.91328825e-02 1.18249903e+02] [-4.13975867e-01 9.09482798e-01 3.82756029e-02 -4.62633748e+01] [ 8.78825843e-02 -1.91995788e-03 9.96128990e-01 -4.72655373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-46.27, Z:-4.73 [[ 9.05897587e-01 4.15787975e-01 -8.04358264e-02 1.18283721e+02] [-4.14746287e-01 9.09440848e-01 3.00476544e-02 -4.62742342e+01] [ 8.56450795e-02 6.14036270e-03 9.96306788e-01 -4.73140784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:-46.29, Z:-4.72 [[ 9.04595462e-01 4.19235197e-01 -7.71291056e-02 1.18306290e+02] [-4.16759971e-01 9.07822755e-01 4.65722183e-02 -4.62938961e+01] [ 8.95442702e-02 -9.98469354e-03 9.95932794e-01 -4.71896306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:-46.30, Z:-4.72 [[ 9.04078741e-01 4.19552537e-01 -8.13467848e-02 1.18337630e+02] [-4.17700600e-01 9.07729551e-01 3.94115554e-02 -4.63038133e+01] [ 9.03760985e-02 -1.65254856e-03 9.95906336e-01 -4.71913318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:-46.31, Z:-4.72 [[ 9.02778331e-01 4.20214935e-01 -9.17098336e-02 1.18369923e+02] [-4.19440012e-01 9.07335304e-01 2.85083094e-02 -4.63106315e+01] [ 9.51911871e-02 1.27300897e-02 9.95377608e-01 -4.72167326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:-46.34, Z:-4.71 [[ 9.02762833e-01 4.23326330e-01 -7.62501526e-02 1.18390435e+02] [-4.20324062e-01 9.05844903e-01 5.26563901e-02 -4.63379824e+01] [ 9.13616484e-02 -1.54864581e-02 9.95697353e-01 -4.70824264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.42, Y:-46.35, Z:-4.71 [[ 9.02147066e-01 4.23496865e-01 -8.23472897e-02 1.18423951e+02] [-4.21611196e-01 9.05896615e-01 3.99414789e-02 -4.63457641e+01] [ 9.15132221e-02 -1.31454866e-03 9.95802994e-01 -4.71006384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.573617865 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.45, Y:-46.36, Z:-4.71 [[ 9.01838719e-01 4.24166170e-01 -8.22799124e-02 1.18452108e+02] [-4.22283792e-01 9.05583483e-01 3.99368830e-02 -4.63596294e+01] [ 9.14512043e-02 -1.27115397e-03 9.95808747e-01 -4.70686056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:-46.37, Z:-4.70 [[ 9.01822034e-01 4.24201210e-01 -8.22821476e-02 1.18480856e+02] [-4.22316461e-01 9.05567041e-01 3.99642508e-02 -4.63743350e+01] [ 9.14648844e-02 -1.29153650e-03 9.95807465e-01 -4.70323400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:-46.39, Z:-4.70 [[ 9.01830578e-01 4.24178194e-01 -8.23071536e-02 1.18510536e+02] [-4.22289628e-01 9.05577781e-01 4.00044012e-02 -4.63891458e+01] [ 9.15045242e-02 -1.31973499e-03 9.95803786e-01 -4.70012490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.54, Y:-46.40, Z:-4.70 [[ 9.02008878e-01 4.23847356e-01 -8.20573112e-02 1.18539525e+02] [-4.21966357e-01 9.05732593e-01 3.99106916e-02 -4.64036459e+01] [ 9.12380224e-02 -1.37437347e-03 9.95828165e-01 -4.69738598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:-46.42, Z:-4.69 [[ 9.02193138e-01 4.23540254e-01 -8.16161421e-02 1.18568434e+02] [-4.21675720e-01 9.05876167e-01 3.97235118e-02 -4.64183461e+01] [ 9.07586242e-02 -1.42273430e-03 9.95871903e-01 -4.69428434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.60, Y:-46.43, Z:-4.69 [[ 9.02357408e-01 4.23254708e-01 -8.12807456e-02 1.18597853e+02] [-4.21401880e-01 9.06009542e-01 3.95874369e-02 -4.64332422e+01] [ 9.03967001e-02 -1.47015803e-03 9.95904752e-01 -4.69116468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75361786499997 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:118.63, Y:-46.45, Z:-4.69 [[ 9.02479211e-01 4.22545375e-01 -8.35863641e-02 1.18626010e+02] [-4.21002826e-01 9.06338173e-01 3.61626539e-02 -4.64454469e+01] [ 9.10378746e-02 2.55405208e-03 9.95844156e-01 -4.68965435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:-46.46, Z:-4.69 [[ 9.03574144e-01 4.21179178e-01 -7.84975619e-02 1.18654194e+02] [-4.19081095e-01 9.06961683e-01 4.23265900e-02 -4.64643207e+01] [ 8.90213593e-02 -5.34836812e-03 9.96015358e-01 -4.68698934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:-46.48, Z:-4.68 [[ 9.03551007e-01 4.20838894e-01 -8.05617967e-02 1.18683314e+02] [-4.19000974e-01 9.07133649e-01 3.93284395e-02 -4.64772429e+01] [ 8.96312536e-02 -1.77977975e-03 9.95973429e-01 -4.68235158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:-46.49, Z:-4.68 [[ 9.04581996e-01 4.18768021e-01 -7.97794275e-02 1.18711411e+02] [-4.16955393e-01 9.08091069e-01 3.89719253e-02 -4.64918221e+01] [ 8.87671816e-02 -1.98883935e-03 9.96050416e-01 -4.67924046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.74, Y:-46.50, Z:-4.68 [[ 9.04682853e-01 4.18177841e-01 -8.17081865e-02 1.18740441e+02] [-4.16611231e-01 9.08364242e-01 3.61868291e-02 -4.65047062e+01] [ 8.93533249e-02 1.30294432e-03 9.95999139e-01 -4.67779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:-46.52, Z:-4.67 [[ 9.05147037e-01 4.17919961e-01 -7.77929743e-02 1.18767521e+02] [-4.15868445e-01 9.08467790e-01 4.17098397e-02 -4.65221697e+01] [ 8.81037860e-02 -5.40189461e-03 9.96096653e-01 -4.67217535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:-46.53, Z:-4.67 [[ 9.04834460e-01 4.18307424e-01 -7.93315733e-02 1.18797790e+02] [-4.16507847e-01 9.08303130e-01 3.88154303e-02 -4.65347038e+01] [ 8.82938990e-02 -2.07931614e-03 9.96092297e-01 -4.67054044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:-46.55, Z:-4.67 [[ 9.04495795e-01 4.17758772e-01 -8.58193760e-02 1.18831261e+02] [-4.16606407e-01 9.08531013e-01 3.17883570e-02 -4.65451010e+01] [ 9.12494296e-02 7.00046672e-03 9.95803462e-01 -4.67105168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:-46.57, Z:-4.66 [[ 9.03921476e-01 4.20945394e-01 -7.57029767e-02 1.18852703e+02] [-4.18393125e-01 9.07014117e-01 4.76716286e-02 -4.65669593e+01] [ 8.87308211e-02 -1.14178039e-02 9.95990198e-01 -4.66218745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:-46.58, Z:-4.66 [[ 9.03303404e-01 4.21364124e-01 -8.05930273e-02 1.18884560e+02] [-4.19513115e-01 9.06889623e-01 3.94963091e-02 -4.65763447e+01] [ 8.97313078e-02 -1.86731854e-03 9.95964259e-01 -4.66287856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.91, Y:-46.59, Z:-4.66 [[ 9.02339657e-01 4.23181380e-01 -8.18575763e-02 1.18913675e+02] [-4.21276586e-01 9.06043319e-01 4.01440203e-02 -4.65897735e+01] [ 9.11547120e-02 -1.73886124e-03 9.95835225e-01 -4.66087102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:-46.60, Z:-4.66 [[ 9.01797025e-01 4.24230178e-01 -8.24068111e-02 1.18943154e+02] [-4.22301624e-01 9.05552856e-01 4.04396266e-02 -4.66036686e+01] [ 9.17794331e-02 -1.66780476e-03 9.95777964e-01 -4.65813015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:-46.62, Z:-4.66 [[ 9.01261340e-01 4.25327846e-01 -8.26088468e-02 1.18972584e+02] [-4.23391812e-01 9.05037961e-01 4.05667746e-02 -4.66167382e+01] [ 9.20183211e-02 -1.58535632e-03 9.95756052e-01 -4.65585942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:-46.63, Z:-4.65 [[ 9.01136021e-01 4.25615035e-01 -8.24967465e-02 1.19002263e+02] [-4.23683780e-01 9.04902965e-01 4.05299832e-02 -4.66309639e+01] [ 9.19017207e-02 -1.57049443e-03 9.95766844e-01 -4.65283122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:-46.65, Z:-4.65 [[ 8.99173019e-01 4.29328743e-01 -8.46446241e-02 1.19029391e+02] [-4.27308990e-01 9.03147425e-01 4.16143811e-02 -4.66477740e+01] [ 9.43128241e-02 -1.24911986e-03 9.95541828e-01 -4.64647013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.06, Y:-46.66, Z:-4.65 [[ 9.01384549e-01 4.25298442e-01 -8.14071886e-02 1.19059863e+02] [-4.23411873e-01 9.05051700e-01 4.00475409e-02 -4.66601325e+01] [ 9.07098712e-02 -1.62946432e-03 9.95876028e-01 -4.64638851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:-46.67, Z:-4.64 [[ 9.01704340e-01 4.24730620e-01 -8.08281087e-02 1.19088350e+02] [-4.22866133e-01 9.05318184e-01 3.97896957e-02 -4.66742095e+01] [ 9.00750587e-02 -1.69907153e-03 9.95933530e-01 -4.64337242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.12, Y:-46.69, Z:-4.64 [[ 9.02088448e-01 4.24083749e-01 -7.99337618e-02 1.19117516e+02] [-4.22255623e-01 9.05621253e-01 3.93743071e-02 -4.66885793e+01] [ 8.90877172e-02 -1.76662722e-03 9.96022217e-01 -4.64076834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.293617865 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:119.15, Y:-46.69, Z:-4.64 [[ 9.02326911e-01 4.21136385e-01 -9.19254590e-02 1.19150380e+02] [-4.20692510e-01 9.06855850e-01 2.51053614e-02 -4.66938767e+01] [ 9.39359214e-02 1.60191089e-02 9.95449361e-01 -4.64219554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:-46.73, Z:-4.63 [[ 9.03258223e-01 4.23185426e-01 -7.09836383e-02 1.19166855e+02] [-4.20008533e-01 9.05812191e-01 5.56516559e-02 -4.67252888e+01] [ 8.78488147e-02 -2.04540821e-02 9.95923800e-01 -4.62911185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:-46.73, Z:-4.63 [[ 9.03498653e-01 4.21232798e-01 -7.90766391e-02 1.19201789e+02] [-4.19428269e-01 9.06950182e-01 3.90037683e-02 -4.67308368e+01] [ 8.81482387e-02 -2.07287427e-03 9.96105211e-01 -4.63293379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:-46.74, Z:-4.63 [[ 9.03585534e-01 4.20990890e-01 -7.93716207e-02 1.19230313e+02] [-4.19169544e-01 9.07062368e-01 3.91759359e-02 -4.67448818e+01] [ 8.84877224e-02 -2.12864289e-03 9.96074993e-01 -4.63022940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:-46.76, Z:-4.63 [[ 9.03559945e-01 4.21062757e-01 -7.92816457e-02 1.19259554e+02] [-4.19243625e-01 9.07028978e-01 3.91563008e-02 -4.67609802e+01] [ 8.83980100e-02 -2.14174048e-03 9.96082931e-01 -4.62975345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:-46.77, Z:-4.63 [[ 9.03727747e-01 4.20775361e-01 -7.88939451e-02 1.19289349e+02] [-4.18970465e-01 9.07162237e-01 3.89926429e-02 -4.67749948e+01] [ 8.79767511e-02 -2.18450046e-03 9.96120133e-01 -4.62726214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-46.78, Z:-4.63 [[ 9.03145817e-01 4.19467666e-01 -9.15123473e-02 1.19322763e+02] [-4.19171985e-01 9.07606195e-01 2.33632727e-02 -4.67787861e+01] [ 9.28573108e-02 1.72589702e-02 9.95529833e-01 -4.62922804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-46.81, Z:-4.61 [[ 9.03058300e-01 4.23800872e-01 -6.98464577e-02 1.19339624e+02] [-4.20527450e-01 9.05484689e-01 5.70450788e-02 -4.68131786e+01] [ 8.74206522e-02 -2.21426791e-02 9.95925364e-01 -4.61445576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-46.82, Z:-4.62 [[ 9.02597963e-01 4.23160183e-01 -7.90719695e-02 1.19373722e+02] [-4.21350812e-01 9.06052653e-01 3.91418342e-02 -4.68171179e+01] [ 8.82066334e-02 -2.01230123e-03 9.96100166e-01 -4.61714559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:-46.83, Z:-4.61 [[ 9.01596367e-01 4.25060766e-01 -8.02953034e-02 1.19402139e+02] [-4.23199978e-01 9.05162866e-01 3.97739174e-02 -4.68334855e+01] [ 8.95866587e-02 -1.87904888e-03 9.95977259e-01 -4.61449575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:-46.85, Z:-4.61 [[ 9.01334069e-01 4.25649605e-01 -8.01205966e-02 1.19431484e+02] [-4.23796747e-01 9.04886192e-01 3.97151816e-02 -4.68479827e+01] [ 8.94047730e-02 -1.84179802e-03 9.95993672e-01 -4.61096405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:-46.86, Z:-4.61 [[ 9.01280404e-01 4.25765339e-01 -8.01093598e-02 1.19461310e+02] [-4.23910924e-01 9.04831715e-01 3.97378347e-02 -4.68628755e+01] [ 8.94044821e-02 -1.85569901e-03 9.95993672e-01 -4.60807579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:-46.88, Z:-4.61 [[ 9.00471482e-01 4.27481566e-01 -8.00663537e-02 1.19490882e+02] [-4.25634720e-01 9.04022474e-01 3.97297386e-02 -4.68776942e+01] [ 8.93655140e-02 -1.69647650e-03 9.95997453e-01 -4.60511962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.52, Y:-46.89, Z:-4.60 [[ 9.00257617e-01 4.27805246e-01 -8.07396723e-02 1.19519006e+02] [-4.25925800e-01 9.03869329e-01 4.00929924e-02 -4.68917923e+01] [ 9.01301060e-02 -1.70491225e-03 9.95928540e-01 -4.60121885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.55, Y:-46.90, Z:-4.60 [[ 9.00616058e-01 4.27494575e-01 -7.83524353e-02 1.19547898e+02] [-4.25721443e-01 9.04016302e-01 3.89330098e-02 -4.69047238e+01] [ 8.74755292e-02 -1.70738194e-03 9.96165205e-01 -4.60085511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.58, Y:-46.92, Z:-4.60 [[ 9.00759278e-01 4.27375453e-01 -7.73494950e-02 1.19576211e+02] [-4.25644921e-01 9.04072600e-01 3.84595313e-02 -4.69194220e+01] [ 8.63662187e-02 -1.71935999e-03 9.96261974e-01 -4.59814899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:-46.93, Z:-4.60 [[ 9.00582161e-01 4.27474553e-01 -7.88497213e-02 1.19605333e+02] [-4.25674237e-01 9.04025656e-01 3.92308207e-02 -4.69338847e+01] [ 8.80523486e-02 -1.76628232e-03 9.96114283e-01 -4.59569851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:-46.95, Z:-4.59 [[ 9.00753899e-01 4.27278866e-01 -7.79434722e-02 1.19634090e+02] [-4.25516808e-01 9.04118120e-01 3.88055694e-02 -4.69483399e+01] [ 8.70509051e-02 -1.78801043e-03 9.96202260e-01 -4.59107828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:-46.96, Z:-4.59 [[ 9.00593655e-01 4.27805742e-01 -7.68980894e-02 1.19663580e+02] [-4.26090460e-01 9.03869034e-01 3.83104229e-02 -4.69626850e+01] [ 8.58952207e-02 -1.73658142e-03 9.96302663e-01 -4.58982295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.69, Y:-46.98, Z:-4.58 [[ 8.99811040e-01 4.28883326e-01 -7.99949045e-02 1.19692073e+02] [-4.27028559e-01 9.03358243e-01 3.98810001e-02 -4.69786001e+01] [ 8.93683524e-02 -1.72525536e-03 9.95997149e-01 -4.58392371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.72, Y:-46.99, Z:-4.58 [[ 9.00304607e-01 4.28398751e-01 -7.69813259e-02 1.19721505e+02] [-4.26677349e-01 9.03588135e-01 3.84047089e-02 -4.69914327e+01] [ 8.60119420e-02 -1.72974831e-03 9.96292605e-01 -4.58414576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:-47.02, Z:-4.57 [[ 8.99739685e-01 4.30655929e-01 -7.07387388e-02 1.19744618e+02] [-4.26989274e-01 9.02168232e-01 6.14218363e-02 -4.70196282e+01] [ 9.02699209e-02 -2.50589809e-02 9.95602023e-01 -4.56781139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:-47.01, Z:-4.58 [[ 9.00374370e-01 4.25710519e-01 -8.99808179e-02 1.19785262e+02] [-4.25769707e-01 9.04621396e-01 1.95009584e-02 -4.70097322e+01] [ 8.97003362e-02 2.07529433e-02 9.95752562e-01 -4.58420525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:-47.03, Z:-4.58 [[ 9.00934000e-01 4.27145244e-01 -7.65824253e-02 1.19808225e+02] [-4.25434079e-01 9.04181085e-01 3.82414635e-02 -4.70349819e+01] [ 8.55790397e-02 -1.87226115e-03 9.96329625e-01 -4.57670932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:-47.05, Z:-4.57 [[ 9.01448554e-01 4.25938882e-01 -7.72435968e-02 1.19836751e+02] [-4.24191150e-01 9.04749662e-01 3.85994511e-02 -4.70489658e+01] [ 8.63271252e-02 -2.02936925e-03 9.96264779e-01 -4.57399619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:-47.06, Z:-4.57 [[ 9.01802138e-01 4.24743741e-01 -7.96596402e-02 1.19866249e+02] [-4.22877750e-01 9.05310863e-01 3.98327683e-02 -4.70638231e+01] [ 8.90354567e-02 -2.23498626e-03 9.96025950e-01 -4.56933530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.073617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.90, Y:-47.08, Z:-4.57 [[ 9.02459571e-01 4.23557139e-01 -7.85243454e-02 1.19895165e+02] [-4.21737199e-01 9.05866359e-01 3.92921650e-02 -4.70776548e+01] [ 8.77750398e-02 -2.34295292e-03 9.96137567e-01 -4.56673178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:-47.09, Z:-4.56 [[ 9.03438960e-01 4.21970947e-01 -7.57533210e-02 1.19924668e+02] [-4.20269855e-01 9.06606097e-01 3.79293334e-02 -4.70931121e+01] [ 8.46834994e-02 -2.43000030e-03 9.96404938e-01 -4.56494854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:-47.11, Z:-4.56 [[ 9.03709471e-01 4.21494800e-01 -7.51753002e-02 1.19952963e+02] [-4.19815869e-01 9.06827432e-01 3.76649010e-02 -4.71078669e+01] [ 8.40465843e-02 -2.47834378e-03 9.96458745e-01 -4.56187031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.98, Y:-47.12, Z:-4.56 [[ 9.03796406e-01 4.21434286e-01 -7.44660912e-02 1.19981873e+02] [-4.19784787e-01 9.06855548e-01 3.73329404e-02 -4.71224854e+01] [ 8.32633690e-02 -2.48164519e-03 9.96524487e-01 -4.55840085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.01, Y:-47.13, Z:-4.56 [[ 9.03692828e-01 4.21178983e-01 -7.71202785e-02 1.20010198e+02] [-4.19857141e-01 9.06974915e-01 3.34138437e-02 -4.71334077e+01] [ 8.40193667e-02 2.18364873e-03 9.96461729e-01 -4.55712875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.04, Y:-47.15, Z:-4.55 [[ 9.03737208e-01 4.21525870e-01 -7.46659240e-02 1.20037436e+02] [-4.19431031e-01 9.06788085e-01 4.25790883e-02 -4.71506690e+01] [ 8.56543575e-02 -7.16310086e-03 9.96299162e-01 -4.55077653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-47.16, Z:-4.55 [[ 9.02873763e-01 4.22289132e-01 -8.05658545e-02 1.20069019e+02] [-4.21336400e-01 9.06430378e-01 2.93190793e-02 -4.71572902e+01] [ 8.54084665e-02 7.47389962e-03 9.96317989e-01 -4.55377590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.08, Y:-47.19, Z:-4.54 [[ 9.02398068e-01 4.26945959e-01 -5.82655527e-02 1.20083576e+02] [-4.23562114e-01 9.03730881e-01 6.21742008e-02 -4.71855899e+01] [ 7.92014030e-02 -3.14267980e-02 9.96363134e-01 -4.53896818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:-47.18, Z:-4.55 [[ 9.02463750e-01 4.23282089e-01 -7.99465648e-02 1.20128628e+02] [-4.23186310e-01 9.05843913e-01 1.89776716e-02 -4.71760680e+01] [ 8.04520176e-02 1.67056311e-02 9.96618480e-01 -4.55423011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-47.20, Z:-4.55 [[ 9.01966483e-01 4.25865148e-01 -7.13816445e-02 1.20153239e+02] [-4.24344469e-01 9.04783967e-01 3.60242356e-02 -4.71993805e+01] [ 7.99264339e-02 -2.20224706e-03 9.96798332e-01 -4.54540166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-47.21, Z:-4.54 [[ 9.00347569e-01 4.28462015e-01 -7.61219858e-02 1.20182437e+02] [-4.27280577e-01 9.03552202e-01 3.20113614e-02 -4.72104791e+01] [ 8.24958403e-02 3.70409461e-03 9.96584525e-01 -4.54262364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-47.23, Z:-4.54 [[ 9.00844267e-01 4.28016705e-01 -7.26725988e-02 1.20209951e+02] [-4.26127998e-01 9.03753723e-01 4.05479670e-02 -4.72272674e+01] [ 8.30333390e-02 -5.55957460e-03 9.96531262e-01 -4.53857686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:-47.24, Z:-4.53 [[ 9.00480361e-01 4.28642013e-01 -7.34924709e-02 1.20240313e+02] [-4.26827164e-01 9.03464063e-01 3.96391124e-02 -4.72414089e+01] [ 8.33887954e-02 -4.32565937e-03 9.96507701e-01 -4.53392767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:-47.25, Z:-4.53 [[ 9.00751617e-01 4.27871191e-01 -7.46509693e-02 1.20271825e+02] [-4.26203939e-01 9.03836964e-01 3.78014009e-02 -4.72528404e+01] [ 8.36464359e-02 -2.23313582e-03 9.96492994e-01 -4.53331256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-47.27, Z:-4.53 [[ 9.00810842e-01 4.27550890e-01 -7.57632082e-02 1.20301344e+02] [-4.25829980e-01 9.03988299e-01 3.83924996e-02 -4.72661634e+01] [ 8.49038010e-02 -2.32213446e-03 9.96386447e-01 -4.52950685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:-47.28, Z:-4.53 [[ 9.00584878e-01 4.27198604e-01 -8.03008745e-02 1.20332180e+02] [-4.26202916e-01 9.04129254e-01 3.00227615e-02 -4.72757306e+01] [ 8.54280516e-02 7.18642188e-03 9.96318425e-01 -4.53012557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:-47.30, Z:-4.52 [[ 9.01535634e-01 4.27069853e-01 -6.96049018e-02 1.20356929e+02] [-4.24703924e-01 9.04133151e-01 4.65813492e-02 -4.72972539e+01] [ 8.28255891e-02 -1.24332712e-02 9.96486495e-01 -4.52039907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:-47.30, Z:-4.52 [[ 9.01818089e-01 4.25158362e-01 -7.72301807e-02 1.20389783e+02] [-4.23355591e-01 9.05115081e-01 3.92011935e-02 -4.73039225e+01] [ 8.65689165e-02 -2.65651660e-03 9.96242323e-01 -4.52114482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:-47.32, Z:-4.52 [[ 9.02450455e-01 4.24136045e-01 -7.54439713e-02 1.20420087e+02] [-4.22410280e-01 9.05594424e-01 3.83183363e-02 -4.73177290e+01] [ 8.45738273e-02 -2.71209097e-03 9.96413525e-01 -4.51842881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:-47.33, Z:-4.52 [[ 9.03469622e-01 4.22030968e-01 -7.50500140e-02 1.20450320e+02] [-4.20313848e-01 9.06576723e-01 3.81433468e-02 -4.73313233e+01] [ 8.41362693e-02 -2.91679497e-03 9.96449989e-01 -4.51583339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:-47.34, Z:-4.51 [[ 9.03861746e-01 4.20939163e-01 -7.64471393e-02 1.20479653e+02] [-4.19151135e-01 9.07083575e-01 3.88807753e-02 -4.73444600e+01] [ 8.57103854e-02 -3.09994023e-03 9.96315272e-01 -4.50998021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:-47.36, Z:-4.51 [[ 9.03899639e-01 4.21549062e-01 -7.25384755e-02 1.20508367e+02] [-4.19939443e-01 9.06800932e-01 3.69179341e-02 -4.73584770e+01] [ 8.13406777e-02 -2.90834026e-03 9.96682114e-01 -4.50950456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:-47.37, Z:-4.50 [[ 9.03736585e-01 4.21020484e-01 -7.74721692e-02 1.20538913e+02] [-4.19180384e-01 9.07045570e-01 3.94479280e-02 -4.73701753e+01] [ 8.68791736e-02 -3.17572213e-03 9.96213794e-01 -4.50287195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:-47.38, Z:-4.50 [[ 9.03572588e-01 4.21411202e-01 -7.72604481e-02 1.20568525e+02] [-4.19580220e-01 9.06864184e-01 3.93673755e-02 -4.73836627e+01] [ 8.66545863e-02 -3.15432554e-03 9.96233423e-01 -4.50009660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-47.41, Z:-4.49 [[ 9.02739321e-01 4.25577969e-01 -6.28101071e-02 1.20585337e+02] [-4.22154255e-01 9.04472608e-01 6.09515026e-02 -4.74059985e+01] [ 8.27496382e-02 -2.85077641e-02 9.96162539e-01 -4.49080932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:-47.39, Z:-4.51 [[ 9.03209360e-01 4.20818166e-01 -8.44092622e-02 1.20634488e+02] [-4.21214801e-01 9.06853989e-01 1.39259848e-02 -4.73924620e+01] [ 8.24071836e-02 2.29763508e-02 9.96333851e-01 -4.50544475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:-47.42, Z:-4.49 [[ 9.02512291e-01 4.24498939e-01 -7.26100196e-02 1.20656389e+02] [-4.22881934e-01 9.05424113e-01 3.71220416e-02 -4.74176492e+01] [ 8.15011298e-02 -2.79763330e-03 9.96669323e-01 -4.49470971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:-47.43, Z:-4.49 [[ 9.01188995e-01 4.27111937e-01 -7.37142329e-02 1.20685473e+02] [-4.25451882e-01 9.04194951e-01 3.77118869e-02 -4.74298168e+01] [ 8.27592343e-02 -2.62367837e-03 9.96566117e-01 -4.49107803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:-47.44, Z:-4.49 [[ 9.01001745e-01 4.28145836e-01 -6.99070770e-02 1.20715241e+02] [-4.26654529e-01 9.03706425e-01 3.57856111e-02 -4.74447857e+01] [ 7.84969350e-02 -2.41672706e-03 9.96911426e-01 -4.49073951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:-47.46, Z:-4.49 [[ 8.99773983e-01 4.30524369e-01 -7.11023682e-02 1.20744877e+02] [-4.28986954e-01 9.02576100e-01 3.64222058e-02 -4.74563364e+01] [ 7.98559453e-02 -2.26976483e-03 9.96803830e-01 -4.48841152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:-47.47, Z:-4.49 [[ 8.99029586e-01 4.31933643e-01 -7.19661849e-02 1.20774946e+02] [-4.30361831e-01 9.01902741e-01 3.68800727e-02 -4.74701328e+01] [ 8.08362436e-02 -2.18477735e-03 9.96725001e-01 -4.48553298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:-47.48, Z:-4.48 [[ 8.98623179e-01 4.32266155e-01 -7.49823521e-02 1.20805836e+02] [-4.30558435e-01 9.01743210e-01 3.84527892e-02 -4.74827015e+01] [ 8.42366663e-02 -2.27028356e-03 9.96443189e-01 -4.48196847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:-47.49, Z:-4.48 [[ 8.97470579e-01 4.34161592e-01 -7.77834956e-02 1.20835315e+02] [-4.32414141e-01 9.00834057e-01 3.89360158e-02 -4.74940200e+01] [ 8.69745445e-02 -1.30924519e-03 9.96209674e-01 -4.48153561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:-47.51, Z:-4.48 [[ 8.96625510e-01 4.36746463e-01 -7.29055740e-02 1.20862651e+02] [-4.35071804e-01 8.99580822e-01 3.82997384e-02 -4.75094678e+01] [ 8.23117315e-02 -2.62136284e-03 9.96603184e-01 -4.47687970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:-47.52, Z:-4.47 [[ 8.96073502e-01 4.37809525e-01 -7.33150598e-02 1.20891835e+02] [-4.36190456e-01 8.99066016e-01 3.76587823e-02 -4.75226112e+01] [ 8.24024524e-02 -1.76570750e-03 9.96597571e-01 -4.47413020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:-47.54, Z:-4.47 [[ 8.95467288e-01 4.38998789e-01 -7.36097788e-02 1.20921180e+02] [-4.37369356e-01 8.98486088e-01 3.78258574e-02 -4.75363950e+01] [ 8.27428678e-02 -1.67715633e-03 9.96569518e-01 -4.47095817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:-47.55, Z:-4.47 [[ 8.95345588e-01 4.39089325e-01 -7.45442377e-02 1.20952068e+02] [-4.37416298e-01 8.98441778e-01 3.83321558e-02 -4.75481684e+01] [ 8.38048979e-02 -1.71366212e-03 9.96480709e-01 -4.46931295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:-47.56, Z:-4.47 [[ 8.94840382e-01 4.40372550e-01 -7.30253931e-02 1.20979931e+02] [-4.38769269e-01 8.97813738e-01 3.75768637e-02 -4.75632614e+01] [ 8.21110205e-02 -1.58399669e-03 9.96621930e-01 -4.46527278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:-47.58, Z:-4.46 [[ 8.94807741e-01 4.40505852e-01 -7.26202476e-02 1.21009934e+02] [-4.38918803e-01 8.97748340e-01 3.73925364e-02 -4.75776810e+01] [ 8.16663379e-02 -1.58473892e-03 9.96658466e-01 -4.46254878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-47.59, Z:-4.46 [[ 8.94896451e-01 4.39998296e-01 -7.45777603e-02 1.21039823e+02] [-4.38320397e-01 8.97997001e-01 3.84267616e-02 -4.75903489e+01] [ 8.38783147e-02 -1.69901902e-03 9.96474556e-01 -4.45953189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-47.60, Z:-4.46 [[ 8.95705644e-01 4.37848314e-01 -7.74613020e-02 1.21069963e+02] [-4.36813556e-01 8.99026758e-01 3.07377021e-02 -4.75984117e+01] [ 8.30982342e-02 6.30421351e-03 9.96521420e-01 -4.46408697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:-47.62, Z:-4.45 [[ 8.95195872e-01 4.40219915e-01 -6.95037976e-02 1.21093418e+02] [-4.38026369e-01 8.97836305e-01 4.49763100e-02 -4.76227753e+01] [ 8.22025002e-02 -9.81811090e-03 9.96567285e-01 -4.45251902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:-47.63, Z:-4.45 [[ 8.94999566e-01 4.39108062e-01 -7.84849418e-02 1.21125325e+02] [-4.37241268e-01 8.98432194e-01 4.04927949e-02 -4.76331682e+01] [ 8.82941112e-02 -1.92417841e-03 9.96092590e-01 -4.44987539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:-47.64, Z:-4.45 [[ 8.95590627e-01 4.37891695e-01 -7.85384691e-02 1.21155807e+02] [-4.36775330e-01 8.99008800e-01 3.17881937e-02 -4.76439638e+01] [ 8.45265609e-02 5.83445737e-03 9.96404145e-01 -4.45206485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-47.67, Z:-4.44 [[ 8.95988743e-01 4.38110965e-01 -7.25462270e-02 1.21181105e+02] [-4.35812920e-01 8.98871618e-01 4.57920608e-02 -4.76658975e+01] [ 8.52717484e-02 -9.41258800e-03 9.96313270e-01 -4.44389454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:-47.68, Z:-4.44 [[ 8.96146323e-01 4.37387241e-01 -7.49277586e-02 1.21210958e+02] [-4.35674491e-01 8.99270907e-01 3.87243322e-02 -4.76773851e+01] [ 8.43178823e-02 -2.05855483e-03 9.96436780e-01 -4.44311361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:-47.69, Z:-4.44 [[ 8.96531916e-01 4.36500372e-01 -7.54847662e-02 1.21241018e+02] [-4.34756726e-01 8.99701434e-01 3.90374038e-02 -4.76914181e+01] [ 8.49535937e-02 -2.18076860e-03 9.96382523e-01 -4.44234143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:-47.71, Z:-4.44 [[ 8.95869354e-01 4.37475268e-01 -7.76755470e-02 1.21269465e+02] [-4.35629889e-01 8.99227813e-01 4.01987573e-02 -4.77064498e+01] [ 8.74339743e-02 -2.17504483e-03 9.96167942e-01 -4.43688100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:-47.72, Z:-4.43 [[ 8.95348955e-01 4.38398719e-01 -7.84653548e-02 1.21298366e+02] [-4.36516585e-01 8.98778070e-01 4.06355990e-02 -4.77219711e+01] [ 8.83375347e-02 -2.13161243e-03 9.96088317e-01 -4.43372180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:-47.74, Z:-4.43 [[ 8.95264510e-01 4.38573132e-01 -7.84542217e-02 1.21327936e+02] [-4.36689784e-01 8.98692959e-01 4.06570826e-02 -4.77373834e+01] [ 8.83373607e-02 -2.13868598e-03 9.96088318e-01 -4.43098156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-47.76, Z:-4.42 [[ 8.94837706e-01 4.40636076e-01 -7.14515819e-02 1.21351896e+02] [-4.37563304e-01 8.97507292e-01 5.49455660e-02 -4.77603401e+01] [ 8.83393144e-02 -1.79027739e-02 9.95929544e-01 -4.42168992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:-47.76, Z:-4.43 [[ 8.94256864e-01 4.38171092e-01 -9.11633418e-02 1.21389652e+02] [-4.37640265e-01 8.98750502e-01 2.68054895e-02 -4.77592499e+01] [ 9.36784898e-02 1.59257561e-02 9.95475118e-01 -4.42887186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:-47.79, Z:-4.41 [[ 8.94133089e-01 4.41771791e-01 -7.32373099e-02 1.21408194e+02] [-4.38532002e-01 8.96939092e-01 5.64796278e-02 -4.77928029e+01] [ 9.06405126e-02 -1.83834000e-02 9.95713989e-01 -4.41401729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:-47.80, Z:-4.42 [[ 8.94766580e-01 4.39207059e-01 -8.05600832e-02 1.21442470e+02] [-4.37611687e-01 8.98384155e-01 3.74422423e-02 -4.77976866e+01] [ 8.88187994e-02 1.75196674e-03 9.96046260e-01 -4.41928944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:-47.82, Z:-4.41 [[ 8.94503738e-01 4.40274472e-01 -7.75980190e-02 1.21467299e+02] [-4.37784369e-01 8.97822538e-01 4.75345773e-02 -4.78190835e+01] [ 9.05975113e-02 -8.54865720e-03 9.95850898e-01 -4.41097495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.50, Y:-47.83, Z:-4.41 [[ 8.94666435e-01 4.39621707e-01 -7.94022966e-02 1.21496381e+02] [-4.37361659e-01 8.98166831e-01 4.48455436e-02 -4.78339138e+01] [ 9.10315836e-02 -5.39428246e-03 9.95833396e-01 -4.40891240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-47.84, Z:-4.41 [[ 8.95910440e-01 4.35906233e-01 -8.56168147e-02 1.21527054e+02] [-4.35040074e-01 8.99927232e-01 2.95145894e-02 -4.78413061e+01] [ 8.99144965e-02 1.08043166e-02 9.95890883e-01 -4.41480197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:-47.86, Z:-4.41 [[ 8.96286621e-01 4.35838923e-01 -8.19434356e-02 1.21550567e+02] [-4.34116352e-01 9.00024266e-01 3.87209678e-02 -4.78607588e+01] [ 9.06271854e-02 8.67899879e-04 9.95884511e-01 -4.40933439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:-47.88, Z:-4.41 [[ 8.96803810e-01 4.35099755e-01 -8.01943215e-02 1.21579785e+02] [-4.33311341e-01 9.00382056e-01 3.94136385e-02 -4.78770963e+01] [ 8.93543926e-02 -5.97192199e-04 9.95999717e-01 -4.40844436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:-47.89, Z:-4.41 [[ 8.97539351e-01 4.33476451e-01 -8.07544409e-02 1.21608263e+02] [-4.31828642e-01 9.01164373e-01 3.77729655e-02 -4.78905475e+01] [ 8.91467161e-02 9.69357601e-04 9.96018034e-01 -4.40877715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-47.90, Z:-4.41 [[ 8.98048214e-01 4.32440651e-01 -8.06504151e-02 1.21636499e+02] [-4.31111160e-01 9.01653003e-01 3.41325459e-02 -4.79018499e+01] [ 8.74789893e-02 4.11662210e-03 9.96157859e-01 -4.41008159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:-47.93, Z:-4.40 [[ 8.97177154e-01 4.35324873e-01 -7.46016741e-02 1.21659802e+02] [-4.32438546e-01 9.00156945e-01 5.20996913e-02 -4.79282838e+01] [ 8.98335066e-02 -1.44820133e-02 9.95851501e-01 -4.39796379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:-47.93, Z:-4.41 [[ 8.97251046e-01 4.33560909e-01 -8.34595658e-02 1.21694790e+02] [-4.32770924e-01 9.01060215e-01 2.82810212e-02 -4.79307017e+01] [ 8.74636396e-02 1.07436976e-02 9.96109775e-01 -4.40624120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:-47.96, Z:-4.40 [[ 8.96278774e-01 4.36800850e-01 -7.67422705e-02 1.21717581e+02] [-4.34611249e-01 8.99536948e-01 4.41173602e-02 -4.79571056e+01] [ 8.83030082e-02 -6.18839947e-03 9.96074436e-01 -4.39676465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-47.97, Z:-4.40 [[ 8.95974033e-01 4.37026076e-01 -7.89857008e-02 1.21746041e+02] [-4.35343871e-01 8.99448834e-01 3.83080871e-02 -4.79692393e+01] [ 8.77852295e-02 6.28893839e-05 9.96139423e-01 -4.39679095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:-47.98, Z:-4.40 [[ 8.95783803e-01 4.37238649e-01 -7.99608726e-02 1.21774140e+02] [-4.35840109e-01 8.99339090e-01 3.51084059e-02 -4.79825583e+01] [ 8.72626904e-02 3.40061398e-03 9.96179531e-01 -4.39692903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:-48.00, Z:-4.39 [[ 8.95224778e-01 4.38566616e-01 -7.89425175e-02 1.21802215e+02] [-4.36983046e-01 8.98697952e-01 3.72533005e-02 -4.80006927e+01] [ 8.72835328e-02 1.14646409e-03 9.96182850e-01 -4.39417143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-48.02, Z:-4.39 [[ 8.94940923e-01 4.39323500e-01 -7.79461720e-02 1.21828278e+02] [-4.37585641e-01 8.98328538e-01 3.90466953e-02 -4.80171076e+01] [ 8.71754016e-02 -8.36359939e-04 9.96192627e-01 -4.39151658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:-48.03, Z:-4.39 [[ 8.94792809e-01 4.39181098e-01 -8.04101499e-02 1.21855856e+02] [-4.37688367e-01 8.98394407e-01 3.62819775e-02 -4.80303747e+01] [ 8.81743877e-02 2.72973467e-03 9.96101313e-01 -4.39074409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:-48.05, Z:-4.38 [[ 8.94500523e-01 4.40613527e-01 -7.56870821e-02 1.21880196e+02] [-4.38536691e-01 8.97681097e-01 4.30606483e-02 -4.80527663e+01] [ 8.69159670e-02 -5.32620986e-03 9.96201408e-01 -4.38443495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:-48.08, Z:-4.37 [[ 8.92292872e-01 4.44013008e-01 -8.16448360e-02 1.21903603e+02] [-4.40923179e-01 8.95942101e-01 5.36143839e-02 -4.80751068e+01] [ 9.69545298e-02 -1.18406319e-02 9.95218377e-01 -4.36607276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:-48.07, Z:-4.39 [[ 8.94439645e-01 4.39549251e-01 -8.23053977e-02 1.21937350e+02] [-4.38824805e-01 8.98146536e-01 2.76693211e-02 -4.80749411e+01] [ 8.60843372e-02 1.13691124e-02 9.96222982e-01 -4.38582626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:-48.10, Z:-4.38 [[ 8.92647774e-01 4.44158644e-01 -7.68313151e-02 1.21960349e+02] [-4.41971535e-01 8.95930252e-01 4.43863166e-02 -4.81038673e+01] [ 8.85500657e-02 -5.66409238e-03 9.96055623e-01 -4.37551393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:122.00, Y:-48.10, Z:-4.39 [[ 8.91913408e-01 4.42959865e-01 -9.09781934e-02 1.21996274e+02] [-4.43632912e-01 8.96102380e-01 1.37972224e-02 -4.81034876e+01] [ 8.76373915e-02 2.80549932e-02 9.95757302e-01 -4.38677790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:-48.16, Z:-4.35 [[ 8.90577974e-01 4.50830400e-01 -6.01898932e-02 1.21998837e+02] [-4.45481762e-01 8.91294120e-01 8.45032054e-02 -4.81564594e+01] [ 9.17435117e-02 -4.84431937e-02 9.94603632e-01 -4.34838184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-48.15, Z:-4.36 [[ 8.89245584e-01 4.50043222e-01 -8.18742272e-02 1.22039168e+02] [-4.47996906e-01 8.93005575e-01 4.28930571e-02 -4.81528340e+01] [ 9.24178709e-02 -1.46306114e-03 9.95719236e-01 -4.36114490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:-48.17, Z:-4.36 [[ 8.88649292e-01 4.51259691e-01 -8.16524749e-02 1.22067453e+02] [-4.49226963e-01 8.92391644e-01 4.28052533e-02 -4.81705660e+01] [ 9.21822717e-02 -1.35836466e-03 9.95741223e-01 -4.35852595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:-48.19, Z:-4.36 [[ 8.88202921e-01 4.52224345e-01 -8.11708904e-02 1.22095594e+02] [-4.50216973e-01 8.91903309e-01 4.25812690e-02 -4.81883411e+01] [ 9.16528722e-02 -1.27629492e-03 9.95790200e-01 -4.35553358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:-48.21, Z:-4.35 [[ 8.87727628e-01 4.53226545e-01 -8.07796865e-02 1.22122527e+02] [-4.51240067e-01 8.91394569e-01 4.24043035e-02 -4.82078894e+01] [ 9.12253297e-02 -1.19244062e-03 9.95829562e-01 -4.35168763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.15, Y:-48.23, Z:-4.35 [[ 8.87404651e-01 4.53962191e-01 -8.01954851e-02 1.22150857e+02] [-4.52004858e-01 8.91020227e-01 4.21255728e-02 -4.82255457e+01] [ 9.05792166e-02 -1.13368032e-03 9.95888608e-01 -4.34906631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47361786499997 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:122.18, Y:-48.24, Z:-4.35 [[ 8.87166573e-01 4.53618588e-01 -8.46501544e-02 1.22179268e+02] [-4.52154464e-01 8.91178399e-01 3.68429384e-02 -4.82389899e+01] [ 9.21510308e-02 5.58912177e-03 9.95729355e-01 -4.34805672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50361786499997 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:122.20, Y:-48.26, Z:-4.34 [[ 8.86401876e-01 4.55733966e-01 -8.12297141e-02 1.22202297e+02] [-4.53624894e-01 8.90113759e-01 4.38400675e-02 -4.82615911e+01] [ 9.22830940e-02 -2.01209763e-03 9.95730778e-01 -4.34257171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:-48.28, Z:-4.34 [[ 8.86243970e-01 4.56611519e-01 -7.79586197e-02 1.22229441e+02] [-4.54211755e-01 8.89643079e-01 4.71897610e-02 -4.82812317e+01] [ 9.09027349e-02 -6.41191967e-03 9.95839134e-01 -4.33916724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56361786499997 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:122.26, Y:-48.29, Z:-4.34 [[ 8.85701559e-01 4.55405933e-01 -9.02118882e-02 1.22262891e+02] [-4.54341987e-01 8.90208547e-01 3.31979318e-02 -4.82897846e+01] [ 9.54259290e-02 1.15835885e-02 9.95369134e-01 -4.34122365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.28, Y:-48.32, Z:-4.33 [[ 8.84560980e-01 4.59109823e-01 -8.22802684e-02 1.22284103e+02] [-4.56528394e-01 8.88360972e-01 4.89551665e-02 -4.83183535e+01] [ 9.55703771e-02 -5.74055124e-03 9.95406123e-01 -4.33214451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.31, Y:-48.34, Z:-4.33 [[ 8.84264763e-01 4.60302616e-01 -7.87231228e-02 1.22310495e+02] [-4.57569509e-01 8.87716722e-01 5.08838526e-02 -4.83363205e+01] [ 9.33058030e-02 -8.97349722e-03 9.95597059e-01 -4.32802852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65361786499997 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:122.34, Y:-48.35, Z:-4.33 [[ 8.83570410e-01 4.61052915e-01 -8.20581498e-02 1.22340314e+02] [-4.59014500e-01 8.87372439e-01 4.33110037e-02 -4.83474115e+01] [ 9.27848050e-02 -6.02440713e-04 9.95686003e-01 -4.32837237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68361786499997 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:122.37, Y:-48.35, Z:-4.33 [[ 8.82921452e-01 4.59559465e-01 -9.62019119e-02 1.22374642e+02] [-4.59202692e-01 8.87916903e-01 2.71378145e-02 -4.83528791e+01] [ 9.78907432e-02 2.02156183e-02 9.94991825e-01 -4.33042529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:-48.39, Z:-4.31 [[ 8.83770162e-01 4.62447443e-01 -7.13629000e-02 1.22390382e+02] [-4.58063577e-01 8.86170965e-01 6.98482690e-02 -4.83920587e+01] [ 9.55408833e-02 -2.90410708e-02 9.95001787e-01 -4.31296243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-48.38, Z:-4.34 [[ 8.85455116e-01 4.57041581e-01 -8.41559853e-02 1.22430470e+02] [-4.56875138e-01 8.89249772e-01 2.23595930e-02 -4.83796060e+01] [ 8.50549545e-02 1.86503613e-02 9.96201696e-01 -4.33757410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:-48.41, Z:-4.31 [[ 8.83542536e-01 4.61840992e-01 -7.78170016e-02 1.22445977e+02] [-4.58785957e-01 8.86875709e-01 5.44694534e-02 -4.84110818e+01] [ 9.41702349e-02 -1.24247314e-02 9.95478575e-01 -4.31371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:122.48, Y:-48.42, Z:-4.32 [[ 8.84599510e-01 4.58250393e-01 -8.65464303e-02 1.22481070e+02] [-4.56850088e-01 8.88793712e-01 3.65203298e-02 -4.84151179e+01] [ 9.36573785e-02 7.23287842e-03 9.95578214e-01 -4.31840924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83361786499998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:122.50, Y:-48.44, Z:-4.31 [[ 8.84059139e-01 4.60794034e-01 -7.81556007e-02 1.22504888e+02] [-4.58197487e-01 8.87471572e-01 4.94901120e-02 -4.84374769e+01] [ 9.21656221e-02 -7.94148590e-03 9.95712022e-01 -4.31041091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:-48.45, Z:-4.31 [[ 8.85215074e-01 4.57961376e-01 -8.16434344e-02 1.22537241e+02] [-4.55966504e-01 8.88971905e-01 4.27024462e-02 -4.84469235e+01] [ 9.21347905e-02 -5.74177709e-04 9.95746379e-01 -4.31103517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:-48.45, Z:-4.33 [[ 8.87413610e-01 4.53185293e-01 -8.43811239e-02 1.22572867e+02] [-4.52781844e-01 8.91271787e-01 2.49640570e-02 -4.84515552e+01] [ 8.65198586e-02 1.60527969e-02 9.96120787e-01 -4.32508795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.59, Y:-48.48, Z:-4.30 [[ 8.86765289e-01 4.56165812e-01 -7.45659100e-02 1.22589910e+02] [-4.52779339e-01 8.89713819e-01 5.83111576e-02 -4.84839286e+01] [ 9.29418770e-02 -1.79464070e-02 9.95509786e-01 -4.29982603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:-48.49, Z:-4.30 [[ 8.87622601e-01 4.53112018e-01 -8.25567493e-02 1.22622908e+02] [-4.51044944e-01 8.91452846e-01 4.32467536e-02 -4.84901463e+01] [ 9.31910729e-02 -1.14999160e-03 9.95647579e-01 -4.30331526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:-48.50, Z:-4.31 [[ 8.90120474e-01 4.48609154e-01 -8.02207477e-02 1.22652647e+02] [-4.46637681e-01 8.93726631e-01 4.20415348e-02 -4.85042437e+01] [ 9.05556360e-02 -1.59242217e-03 9.95890125e-01 -4.30561440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-48.52, Z:-4.30 [[ 8.90173874e-01 4.48118413e-01 -8.23429471e-02 1.22680024e+02] [-4.46035985e-01 8.93972566e-01 4.31850869e-02 -4.85196975e+01] [ 9.29643683e-02 -1.71431864e-03 9.95667960e-01 -4.29763461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-48.53, Z:-4.31 [[ 8.92315586e-01 4.43874884e-01 -8.21461065e-02 1.22712964e+02] [-4.42705523e-01 8.96061664e-01 3.29440937e-02 -4.85286264e+01] [ 8.82310327e-02 6.97000685e-03 9.96075652e-01 -4.30740858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-48.54, Z:-4.31 [[ 8.92803880e-01 4.43086483e-01 -8.10900746e-02 1.22740863e+02] [-4.41916911e-01 8.96455117e-01 3.28278344e-02 -4.85423696e+01] [ 8.72391820e-02 6.52625739e-03 9.96166017e-01 -4.30740373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:-48.57, Z:-4.28 [[ 8.91286911e-01 4.47202195e-01 -7.49522432e-02 1.22760132e+02] [-4.43662499e-01 8.94213178e-01 5.95514909e-02 -4.85708092e+01] [ 9.36548410e-02 -1.98239648e-02 9.95407344e-01 -4.28351596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:-48.58, Z:-4.29 [[ 8.90869857e-01 4.46529678e-01 -8.34394671e-02 1.22793726e+02] [-4.44376503e-01 8.94766633e-01 4.38428633e-02 -4.85761433e+01] [ 9.42359906e-02 -1.97974671e-03 9.95547919e-01 -4.28747948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:-48.59, Z:-4.28 [[ 8.89734751e-01 4.48750130e-01 -8.36384745e-02 1.22823631e+02] [-4.46593855e-01 8.93655514e-01 4.39744409e-02 -4.85901374e+01] [ 9.44775199e-02 -1.77315944e-03 9.95525416e-01 -4.28493283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:-48.59, Z:-4.30 [[ 8.90786844e-01 4.46047930e-01 -8.68334259e-02 1.22860329e+02] [-4.45947601e-01 8.94797629e-01 2.16319279e-02 -4.85926232e+01] [ 8.73472203e-02 1.94537212e-02 9.95987960e-01 -4.30262586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:-48.62, Z:-4.29 [[ 8.90139627e-01 4.49172819e-01 -7.67803574e-02 1.22883453e+02] [-4.47280712e-01 8.93441727e-01 4.12534353e-02 -4.86186014e+01] [ 8.71286970e-02 -2.37894460e-03 9.96194223e-01 -4.29192804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:-48.64, Z:-4.28 [[ 8.88457687e-01 4.52733480e-01 -7.53348107e-02 1.22909570e+02] [-4.50435249e-01 8.91618237e-01 4.60977861e-02 -4.86365331e+01] [ 8.80399022e-02 -7.02247825e-03 9.96092195e-01 -4.28480055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.93, Y:-48.65, Z:-4.27 [[ 8.86777297e-01 4.55644769e-01 -7.75491405e-02 1.22934845e+02] [-4.52984469e-01 8.90113820e-01 5.00245790e-02 -4.86536491e+01] [ 9.18209994e-02 -9.23210475e-03 9.95732731e-01 -4.27298957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:-48.66, Z:-4.29 [[ 8.87654791e-01 4.53041746e-01 -8.25963034e-02 1.22970825e+02] [-4.52201405e-01 8.91421506e-01 2.96915421e-02 -4.86592739e+01] [ 8.70796292e-02 1.09943249e-02 9.96140684e-01 -4.28528969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:122.99, Y:-48.69, Z:-4.27 [[ 8.85875421e-01 4.58258712e-01 -7.22751159e-02 1.22987644e+02] [-4.55368986e-01 8.88703042e-01 5.33478140e-02 -4.86876966e+01] [ 8.86782159e-02 -1.43476709e-02 9.95956986e-01 -4.26566955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:-48.70, Z:-4.27 [[ 8.85834127e-01 4.57593532e-01 -7.68508929e-02 1.23019983e+02] [-4.55461372e-01 8.89151265e-01 4.43279407e-02 -4.86993697e+01] [ 8.86162476e-02 -4.26458953e-03 9.96056712e-01 -4.26504783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:-48.71, Z:-4.26 [[ 8.85700892e-01 4.57537260e-01 -7.86993381e-02 1.23049207e+02] [-4.55648058e-01 8.89189955e-01 4.15460131e-02 -4.87131616e+01] [ 8.89875099e-02 -9.38140268e-04 9.96032300e-01 -4.26332304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:-48.73, Z:-4.26 [[ 8.85647220e-01 4.57642867e-01 -7.86893144e-02 1.23078657e+02] [-4.55752396e-01 8.89135594e-01 4.15649902e-02 -4.87288287e+01] [ 8.89873916e-02 -9.49074453e-04 9.96032300e-01 -4.26062489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-48.74, Z:-4.26 [[ 8.85507845e-01 4.57939332e-01 -7.85329504e-02 1.23106565e+02] [-4.56056378e-01 8.88982961e-01 4.14954765e-02 -4.87442966e+01] [ 8.88168656e-02 -9.29117003e-04 9.96047540e-01 -4.25840467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-48.74, Z:-4.28 [[ 8.87641441e-01 4.52265272e-01 -8.68838022e-02 1.23144333e+02] [-4.52782446e-01 8.91498305e-01 1.47928730e-02 -4.87432833e+01] [ 8.41470652e-02 2.62086934e-02 9.96108616e-01 -4.27956825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:-48.78, Z:-4.27 [[ 8.87739147e-01 4.54646545e-01 -7.22199818e-02 1.23164335e+02] [-4.52640181e-01 8.90654969e-01 4.30185134e-02 -4.87754957e+01] [ 8.38813042e-02 -5.49955270e-03 9.96460577e-01 -4.26543758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:-48.79, Z:-4.27 [[ 8.87681403e-01 4.53843458e-01 -7.77678754e-02 1.23193414e+02] [-4.52392294e-01 8.91076749e-01 3.63791219e-02 -4.87860318e+01] [ 8.58075721e-02 2.88851759e-03 9.96307541e-01 -4.26547861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:-48.82, Z:-4.24 [[ 8.86644751e-01 4.57581548e-01 -6.69343982e-02 1.23211501e+02] [-4.53714415e-01 8.88735398e-01 6.55181009e-02 -4.88179152e+01] [ 8.94668430e-02 -2.77221790e-02 9.95603920e-01 -4.23941234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61361786499998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:123.25, Y:-48.81, Z:-4.25 [[ 8.86298941e-01 4.54082982e-01 -9.10100651e-02 1.23252926e+02] [-4.53500748e-01 8.90810315e-01 2.81789874e-02 -4.88119463e+01] [ 9.38683034e-02 1.62981259e-02 9.95451211e-01 -4.25102879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:123.27, Y:-48.84, Z:-4.24 [[ 8.86164709e-01 4.56948098e-01 -7.68800663e-02 1.23271060e+02] [-4.54262123e-01 8.89439789e-01 5.04260491e-02 -4.88384619e+01] [ 9.14222771e-02 -9.76208304e-03 9.95764364e-01 -4.24043272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:-48.86, Z:-4.24 [[ 8.86037120e-01 4.56909530e-01 -7.85614680e-02 1.23300410e+02] [-4.54171107e-01 8.89464089e-01 5.08157447e-02 -4.88556052e+01] [ 9.30958026e-02 -9.34428724e-03 9.95613306e-01 -4.23689664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:123.34, Y:-48.85, Z:-4.25 [[ 8.87621994e-01 4.50342593e-01 -9.65336455e-02 1.23338372e+02] [-4.50223349e-01 8.92586449e-01 2.42563004e-02 -4.88543222e+01] [ 9.70882691e-02 2.19312754e-02 9.95034114e-01 -4.24566453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.35, Y:-48.89, Z:-4.23 [[ 8.88515662e-01 4.53190339e-01 -7.18222413e-02 1.23350500e+02] [-4.49326267e-01 8.91075551e-01 6.39551989e-02 -4.88904866e+01] [ 9.29829216e-02 -2.45535764e-02 9.95364907e-01 -4.22966801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:-48.90, Z:-4.23 [[ 8.90112719e-01 4.49033061e-01 -7.79015914e-02 1.23383765e+02] [-4.46649679e-01 8.93489489e-01 4.66968674e-02 -4.88952780e+01] [ 9.05726904e-02 -6.77075475e-03 9.95866831e-01 -4.23339796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:-48.91, Z:-4.23 [[ 8.90332479e-01 4.48060910e-01 -8.09289671e-02 1.23413869e+02] [-4.45998134e-01 8.94000348e-01 4.30004888e-02 -4.89076559e+01] [ 9.16173628e-02 -2.19056343e-03 9.95791876e-01 -4.23205211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:-48.92, Z:-4.23 [[ 8.91228861e-01 4.45985617e-01 -8.25102862e-02 1.23446074e+02] [-4.44350703e-01 8.95036400e-01 3.82399659e-02 -4.89191982e+01] [ 9.09041843e-02 2.58294245e-03 9.95856294e-01 -4.23366297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:-48.94, Z:-4.23 [[ 8.92224958e-01 4.44269141e-01 -8.09910773e-02 1.23474679e+02] [-4.42305828e-01 8.95892240e-01 4.17450477e-02 -4.89355446e+01] [ 9.11053141e-02 -1.42314795e-03 9.95840246e-01 -4.23035012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:-48.95, Z:-4.23 [[ 8.92464549e-01 4.43700745e-01 -8.14658041e-02 1.23502704e+02] [-4.41837006e-01 8.96174972e-01 4.06261083e-02 -4.89496033e+01] [ 9.10334492e-02 -2.62754505e-04 9.95847801e-01 -4.22828338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:-48.97, Z:-4.22 [[ 8.91832972e-01 4.44840198e-01 -8.21653697e-02 1.23530262e+02] [-4.42679760e-01 8.95605717e-01 4.38751609e-02 -4.89664579e+01] [ 9.31052101e-02 -2.75636906e-03 9.95652461e-01 -4.22313889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.56, Y:-48.98, Z:-4.22 [[ 8.92064645e-01 4.44224585e-01 -8.29770306e-02 1.23561555e+02] [-4.42677171e-01 8.95908492e-01 3.72142056e-02 -4.89765131e+01] [ 9.08712913e-02 3.53456005e-03 9.95856373e-01 -4.22458850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:-48.99, Z:-4.22 [[ 8.91662280e-01 4.45610864e-01 -7.98081185e-02 1.23589199e+02] [-4.43650792e-01 8.95224839e-01 4.17907021e-02 -4.89929584e+01] [ 9.00686009e-02 -1.85625773e-03 9.95933834e-01 -4.22058738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:-49.01, Z:-4.21 [[ 8.90298198e-01 4.47757758e-01 -8.29584721e-02 1.23617291e+02] [-4.45530847e-01 8.94150432e-01 4.46908188e-02 -4.90071558e+01] [ 9.41880145e-02 -2.82759708e-03 9.95550412e-01 -4.21201313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:-49.02, Z:-4.21 [[ 8.90324330e-01 4.48706351e-01 -7.73640621e-02 1.23646201e+02] [-4.46468145e-01 8.93661552e-01 4.51134800e-02 -4.90221036e+01] [ 8.93799928e-02 -5.62503949e-03 9.95981715e-01 -4.21416402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.68, Y:-49.02, Z:-4.22 [[ 8.89698286e-01 4.47529306e-01 -9.03021545e-02 1.23683875e+02] [-4.47467078e-01 8.94028015e-01 2.20708480e-02 -4.90232818e+01] [ 9.06100072e-02 2.07708456e-02 9.95669824e-01 -4.22198909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-49.06, Z:-4.20 [[ 8.88432786e-01 4.54482493e-01 -6.42872275e-02 1.23696308e+02] [-4.50877130e-01 8.90338711e-01 6.32992337e-02 -4.90619789e+01] [ 8.60058009e-02 -2.72514740e-02 9.95921864e-01 -4.19999266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:-49.06, Z:-4.21 [[ 8.88428474e-01 4.51573302e-01 -8.23188852e-02 1.23737096e+02] [-4.50718125e-01 8.92170259e-01 2.97556681e-02 -4.90595603e+01] [ 8.68793265e-02 1.06668308e-02 9.96161735e-01 -4.21161631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-49.08, Z:-4.20 [[ 8.87158038e-01 4.56001728e-01 -7.08028312e-02 1.23757209e+02] [-4.53792429e-01 8.89939962e-01 4.55992918e-02 -4.90825853e+01] [ 8.38036248e-02 -8.32398944e-03 9.96447522e-01 -4.20209011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.78, Y:-49.10, Z:-4.19 [[ 8.84582925e-01 4.60974118e-01 -7.08230993e-02 1.23781069e+02] [-4.57781609e-01 8.87229236e-01 5.70988811e-02 -4.91022279e+01] [ 8.91574306e-02 -1.80871829e-02 9.95853306e-01 -4.18696279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.82, Y:-49.10, Z:-4.20 [[ 8.85072029e-01 4.58203913e-01 -8.18332278e-02 1.23820687e+02] [-4.57380465e-01 8.88776701e-01 2.96493886e-02 -4.91020343e+01] [ 8.63169321e-02 1.11870753e-02 9.96204917e-01 -4.20185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:123.84, Y:-49.12, Z:-4.19 [[ 8.83753508e-01 4.61714039e-01 -7.61569652e-02 1.23844888e+02] [-4.59548396e-01 8.87016411e-01 4.49128002e-02 -4.91248587e+01] [ 8.82893483e-02 -4.69403356e-03 9.96083810e-01 -4.19252900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.87, Y:-49.14, Z:-4.19 [[ 8.82770388e-01 4.62834793e-01 -8.06250359e-02 1.23874336e+02] [-4.61001292e-01 8.86444170e-01 4.11648171e-02 -4.91382265e+01] [ 9.05221027e-02 8.29164204e-04 9.95894102e-01 -4.19050423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:123.90, Y:-49.15, Z:-4.18 [[ 8.81712561e-01 4.64382852e-01 -8.32557838e-02 1.23897256e+02] [-4.62163690e-01 8.85633241e-01 4.53705408e-02 -4.91540197e+01] [ 9.48033908e-02 -1.52597554e-03 9.95494846e-01 -4.18111745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:-49.17, Z:-4.18 [[ 8.83751767e-01 4.60871755e-01 -8.11174440e-02 1.23926254e+02] [-4.58748270e-01 8.87464763e-01 4.42302928e-02 -4.91707826e+01] [ 9.23733659e-02 -1.87611233e-03 9.95722673e-01 -4.18174054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:123.95, Y:-49.18, Z:-4.18 [[ 8.83206043e-01 4.60559411e-01 -8.84992352e-02 1.23954324e+02] [-4.58818096e-01 8.87614839e-01 4.03218477e-02 -4.91830102e+01] [ 9.71238408e-02 4.99255108e-03 9.95259782e-01 -4.17749827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-49.21, Z:-4.17 [[ 8.85030996e-01 4.58866121e-01 -7.84985331e-02 1.23979917e+02] [-4.56061773e-01 8.88450560e-01 5.16067938e-02 -4.92059213e+01] [ 9.34226751e-02 -9.87343195e-03 9.95577581e-01 -4.17199685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.01, Y:-49.22, Z:-4.17 [[ 8.85529356e-01 4.57775677e-01 -7.92413354e-02 1.24005835e+02] [-4.55421606e-01 8.89052348e-01 4.66592171e-02 -4.92175505e+01] [ 9.18091500e-02 -5.22989021e-03 9.95762888e-01 -4.17148607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:-49.23, Z:-4.17 [[ 8.86055152e-01 4.56533917e-01 -8.05173898e-02 1.24035199e+02] [-4.54649865e-01 8.89706003e-01 4.14334294e-02 -4.92305959e+01] [ 9.05525708e-02 -1.05083194e-04 9.95891671e-01 -4.17117212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:124.07, Y:-49.24, Z:-4.17 [[ 8.86524202e-01 4.54176500e-01 -8.83093814e-02 1.24068226e+02] [-4.52728127e-01 8.90882481e-01 3.69546822e-02 -4.92442465e+01] [ 9.54572290e-02 7.21892072e-03 9.95407356e-01 -4.17065133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:-49.27, Z:-4.16 [[ 8.87137555e-01 4.55174837e-01 -7.61762843e-02 1.24087936e+02] [-4.52283534e-01 8.90317473e-01 5.26725865e-02 -4.92681621e+01] [ 9.17963130e-02 -1.22745505e-02 9.95702150e-01 -4.16099113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:-49.28, Z:-4.16 [[ 8.88229928e-01 4.52247679e-01 -8.07442408e-02 1.24122142e+02] [-4.50662202e-01 8.91888315e-01 3.79316900e-02 -4.92770822e+01] [ 8.91693636e-02 2.69631512e-03 9.96012828e-01 -4.16400075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:-49.29, Z:-4.17 [[ 8.88523191e-01 4.49952360e-01 -8.98299091e-02 1.24153610e+02] [-4.49265774e-01 8.92931502e-01 2.88720880e-02 -4.92861484e+01] [ 9.32030198e-02 1.47039839e-02 9.95538543e-01 -4.16797773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-49.31, Z:-4.16 [[ 8.87957102e-01 4.53292779e-01 -7.78321342e-02 1.24169840e+02] [-4.50589323e-01 8.91309417e-01 5.03665068e-02 -4.93109365e+01] [ 9.22032879e-02 -9.65296874e-03 9.95693414e-01 -4.15629771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:-49.32, Z:-4.16 [[ 8.89116321e-01 4.50214363e-01 -8.23358638e-02 1.24205806e+02] [-4.48464962e-01 8.92918997e-01 3.96842881e-02 -4.93215240e+01] [ 9.13856934e-02 1.64080175e-03 9.95814221e-01 -4.15971141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.22, Y:-49.35, Z:-4.14 [[ 8.88042360e-01 4.53041538e-01 -7.83207023e-02 1.24224440e+02] [-4.49107842e-01 8.91244750e-01 6.31263994e-02 -4.93476464e+01] [ 9.84017958e-02 -2.08844750e-02 9.94927598e-01 -4.14015685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:-49.34, Z:-4.16 [[ 8.89011043e-01 4.48803542e-01 -9.07454998e-02 1.24260280e+02] [-4.48449407e-01 8.93446999e-01 2.54084502e-02 -4.93417524e+01] [ 9.24796969e-02 1.81063727e-02 9.95549931e-01 -4.16141822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.29, Y:-49.36, Z:-4.16 [[ 8.90188773e-01 4.46234234e-01 -9.18637963e-02 1.24292293e+02] [-4.45965630e-01 8.94712581e-01 2.45775393e-02 -4.93581860e+01] [ 9.31590337e-02 1.90894462e-02 9.95468225e-01 -4.16022916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:-49.40, Z:-4.12 [[ 8.88504245e-01 4.53866568e-01 -6.75673364e-02 1.24299425e+02] [-4.48459041e-01 8.90068983e-01 8.16192037e-02 -4.94038746e+01] [ 9.71838182e-02 -4.22178261e-02 9.94370635e-01 -4.11978612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-49.40, Z:-4.13 [[ 8.88023247e-01 4.51627062e-01 -8.63001080e-02 1.24339383e+02] [-4.49252254e-01 8.92203699e-01 4.63138464e-02 -4.94012953e+01] [ 9.79138619e-02 -2.35725429e-03 9.95192102e-01 -4.13077643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-49.42, Z:-4.13 [[ 8.87886965e-01 4.52086124e-01 -8.52928646e-02 1.24367863e+02] [-4.49765777e-01 8.91971310e-01 4.58031501e-02 -4.94173779e+01] [ 9.67857568e-02 -2.30620850e-03 9.95302566e-01 -4.12721133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:124.40, Y:-49.43, Z:-4.13 [[ 8.87095847e-01 4.53727405e-01 -8.48080155e-02 1.24396116e+02] [-4.51437944e-01 8.91137953e-01 4.55733555e-02 -4.94349092e+01] [ 9.62535217e-02 -2.14237828e-03 9.95354545e-01 -4.12503823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:-49.45, Z:-4.12 [[ 8.87969074e-01 4.52505108e-01 -8.21586874e-02 1.24425041e+02] [-4.50348726e-01 8.91759021e-01 4.41800081e-02 -4.94487795e+01] [ 9.32574300e-02 -2.23042070e-03 9.95639532e-01 -4.12493100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.45, Y:-49.46, Z:-4.12 [[ 8.87755718e-01 4.52616897e-01 -8.38315518e-02 1.24452378e+02] [-4.50369288e-01 8.91702135e-01 4.51088240e-02 -4.94640374e+01] [ 9.51697897e-02 -2.29046009e-03 9.95458419e-01 -4.11927498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.48, Y:-49.48, Z:-4.12 [[ 8.87461902e-01 4.53184530e-01 -8.38758285e-02 1.24480595e+02] [-4.50935106e-01 8.91413890e-01 4.51531555e-02 -4.94798100e+01] [ 9.52307901e-02 -2.24914964e-03 9.95452680e-01 -4.11509478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.51, Y:-49.49, Z:-4.11 [[ 8.86932800e-01 4.53337538e-01 -8.85171492e-02 1.24508688e+02] [-4.51427270e-01 8.91333905e-01 4.16807945e-02 -4.94923132e+01] [ 9.77938050e-02 2.99099123e-03 9.95202203e-01 -4.11425357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.54, Y:-49.51, Z:-4.11 [[ 8.87146972e-01 4.54138524e-01 -8.20271367e-02 1.24536022e+02] [-4.51450685e-01 8.90901983e-01 4.98591564e-02 -4.95126968e+01] [ 9.57211025e-02 -7.20119261e-03 9.95382144e-01 -4.10816866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-49.53, Z:-4.11 [[ 8.87039695e-01 4.53846596e-01 -8.47575768e-02 1.24566660e+02] [-4.51545427e-01 8.91076949e-01 4.57011886e-02 -4.95258372e+01] [ 9.62668518e-02 -2.26687218e-03 9.95352980e-01 -4.10716844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-49.54, Z:-4.12 [[ 8.87983910e-01 4.52029366e-01 -8.45814910e-02 1.24599659e+02] [-4.50828221e-01 8.91966893e-01 3.38965758e-02 -4.95364822e+01] [ 9.07661374e-02 8.03210921e-03 9.95839843e-01 -4.11585007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:-49.56, Z:-4.11 [[ 8.88784059e-01 4.51934272e-01 -7.62778520e-02 1.24625232e+02] [-4.49969825e-01 8.92045515e-01 4.22132188e-02 -4.95564024e+01] [ 8.71209161e-02 -3.19570424e-03 9.96192619e-01 -4.11090403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:-49.56, Z:-4.11 [[ 8.88496601e-01 4.51102944e-01 -8.41422767e-02 1.24657048e+02] [-4.50123012e-01 8.92415762e-01 3.13589230e-02 -4.95635126e+01] [ 8.92359965e-02 1.00120785e-02 9.95960188e-01 -4.11391808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.67, Y:-49.59, Z:-4.09 [[ 8.87197760e-01 4.55503327e-01 -7.34632842e-02 1.24673045e+02] [-4.51321031e-01 8.89847519e-01 6.69381802e-02 -4.95949003e+01] [ 9.58616850e-02 -2.62318783e-02 9.95048957e-01 -4.08827418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:-49.59, Z:-4.11 [[ 8.88327071e-01 4.50917673e-01 -8.68807657e-02 1.24716273e+02] [-4.50490755e-01 8.92414571e-01 2.55795311e-02 -4.95878918e+01] [ 8.90679239e-02 1.64159918e-02 9.95890265e-01 -4.10850345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.74, Y:-49.61, Z:-4.10 [[ 8.88540349e-01 4.51958957e-01 -7.89249567e-02 1.24740535e+02] [-4.50375905e-01 8.92036666e-01 3.78435106e-02 -4.96081303e+01] [ 8.75076688e-02 1.92041268e-03 9.96161995e-01 -4.10190772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-49.64, Z:-4.08 [[ 8.86951549e-01 4.56075769e-01 -7.28823900e-02 1.24759199e+02] [-4.51988079e-01 8.89569488e-01 6.61279314e-02 -4.96363402e+01] [ 9.49932975e-02 -2.57102997e-02 9.95145846e-01 -4.07703294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:-49.64, Z:-4.08 [[ 8.86866112e-01 4.54170837e-01 -8.48372046e-02 1.24795373e+02] [-4.51853919e-01 8.90911508e-01 4.58772427e-02 -4.96395879e+01] [ 9.64185476e-02 -2.35294847e-03 9.95338097e-01 -4.08200132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:-49.65, Z:-4.08 [[ 8.86712140e-01 4.54445944e-01 -8.49733200e-02 1.24823253e+02] [-4.52120060e-01 8.90771211e-01 4.59793496e-02 -4.96543891e+01] [ 9.65869161e-02 -2.35230492e-03 9.95321774e-01 -4.07891468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.85, Y:-49.67, Z:-4.08 [[ 8.86552900e-01 4.54693165e-01 -8.53116734e-02 1.24851981e+02] [-4.52347889e-01 8.90645043e-01 4.61821964e-02 -4.96676745e+01] [ 9.69811481e-02 -2.35240473e-03 9.95283439e-01 -4.07532264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.88, Y:-49.68, Z:-4.07 [[ 8.86500262e-01 4.54797808e-01 -8.53008730e-02 1.24881255e+02] [-4.52451098e-01 8.90591582e-01 4.62021373e-02 -4.96836435e+01] [ 9.69808702e-02 -2.36373319e-03 9.95283439e-01 -4.07246263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:-49.70, Z:-4.07 [[ 8.86138527e-01 4.55543803e-01 -8.50785187e-02 1.24910721e+02] [-4.53211337e-01 8.90210426e-01 4.60964363e-02 -4.96979423e+01] [ 9.67367302e-02 -2.28927894e-03 9.95307372e-01 -4.06969005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-49.70, Z:-4.08 [[ 8.87110192e-01 4.52981580e-01 -8.85618138e-02 1.24947468e+02] [-4.52557896e-01 8.91356915e-01 2.59653800e-02 -4.97019144e+01] [ 9.07020240e-02 1.70451949e-02 9.95732195e-01 -4.08492919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:-49.73, Z:-4.08 [[ 8.86734430e-01 4.55397270e-01 -7.94693514e-02 1.24971734e+02] [-4.53296819e-01 8.90283949e-01 4.37776688e-02 -4.97257842e+01] [ 9.06865188e-02 -2.79596194e-03 9.95875563e-01 -4.07546491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.00, Y:-49.74, Z:-4.07 [[ 8.86296650e-01 4.56004000e-01 -8.08616134e-02 1.25003384e+02] [-4.54170412e-01 8.89977577e-01 4.08552370e-02 -4.97370215e+01] [ 9.05951742e-02 5.15092509e-04 9.95887669e-01 -4.07485945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:125.03, Y:-49.75, Z:-4.07 [[ 8.86141779e-01 4.56507727e-01 -7.97084816e-02 1.25032685e+02] [-4.54515465e-01 8.89718100e-01 4.26309092e-02 -4.97531728e+01] [ 9.03794182e-02 -1.54829216e-03 9.95906202e-01 -4.07114837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:-49.78, Z:-4.05 [[ 8.84651913e-01 4.60059738e-01 -7.57365801e-02 1.25052435e+02] [-4.56000730e-01 8.87585548e-01 6.52321142e-02 -4.97777977e+01] [ 9.72333634e-02 -2.31717789e-02 9.94991830e-01 -4.04692405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-49.78, Z:-4.05 [[ 8.84656420e-01 4.58383785e-01 -8.52486086e-02 1.25087891e+02] [-4.56039937e-01 8.88751824e-01 4.63440596e-02 -4.97832378e+01] [ 9.70082218e-02 -2.12179977e-03 9.95281318e-01 -4.05039811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.12, Y:-49.79, Z:-4.07 [[ 8.86353783e-01 4.54892515e-01 -8.63120553e-02 1.25123247e+02] [-4.54303288e-01 8.90422672e-01 2.74952350e-02 -4.97882268e+01] [ 8.93615875e-02 1.48413450e-02 9.95888669e-01 -4.06526849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:-49.81, Z:-4.05 [[ 8.86436403e-01 4.56672359e-01 -7.53714765e-02 1.25144396e+02] [-4.54203357e-01 8.89594649e-01 4.81733562e-02 -4.98127190e+01] [ 8.90495023e-02 -8.46863900e-03 9.95991199e-01 -4.05296688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-49.82, Z:-4.05 [[ 8.86451577e-01 4.56179890e-01 -7.81249645e-02 1.25176616e+02] [-4.54387875e-01 8.89887528e-01 4.03961292e-02 -4.98211925e+01] [ 8.79503333e-02 -3.10175761e-04 9.96124813e-01 -4.05266080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68361786499997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:125.20, Y:-49.84, Z:-4.04 [[ 8.84659865e-01 4.59238003e-01 -8.04821768e-02 1.25200857e+02] [-4.56651609e-01 8.88287904e-01 4.91315348e-02 -4.98379534e+01] [ 9.40544121e-02 -6.71238147e-03 9.95544430e-01 -4.04173985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71361786499997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:125.23, Y:-49.85, Z:-4.04 [[ 8.85289243e-01 4.58528745e-01 -7.75522173e-02 1.25230361e+02] [-4.55835167e-01 8.88630303e-01 5.05023287e-02 -4.98517156e+01] [ 9.20720197e-02 -9.35814038e-03 9.95708375e-01 -4.03863924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-49.85, Z:-4.05 [[ 8.87269257e-01 4.53879925e-01 -8.21357308e-02 1.25266620e+02] [-4.53361046e-01 8.90949383e-01 2.59414612e-02 -4.98526015e+01] [ 8.49530872e-02 1.42200798e-02 9.96283475e-01 -4.05182405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.29, Y:-49.87, Z:-4.05 [[ 8.87381949e-01 4.54830834e-01 -7.53802924e-02 1.25292739e+02] [-4.53180871e-01 8.90577834e-01 3.87068499e-02 -4.98733999e+01] [ 8.47370863e-02 -1.86853303e-04 9.96403328e-01 -4.04620797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:-49.89, Z:-4.04 [[ 8.87506506e-01 4.54893979e-01 -7.35096564e-02 1.25321028e+02] [-4.53033392e-01 8.90539517e-01 4.12324399e-02 -4.98894556e+01] [ 8.42196426e-02 -3.29172970e-03 9.96441778e-01 -4.04127443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:-49.90, Z:-4.04 [[ 8.87372575e-01 4.55267252e-01 -7.28123826e-02 1.25349637e+02] [-4.53182951e-01 8.90334760e-01 4.39229881e-02 -4.99023571e+01] [ 8.48240932e-02 -5.97872462e-03 9.96378005e-01 -4.03713139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:125.38, Y:-49.90, Z:-4.05 [[ 8.86386276e-01 4.55342322e-01 -8.35627900e-02 1.25380287e+02] [-4.55895926e-01 8.89931518e-01 1.34460832e-02 -4.98997671e+01] [ 8.04877314e-02 2.61775119e-02 9.96411794e-01 -4.05238394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89361786499998 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:125.42, Y:-49.92, Z:-4.04 [[ 8.86249572e-01 4.55929188e-01 -8.17940805e-02 1.25415014e+02] [-4.55623750e-01 8.89863434e-01 2.34535160e-02 -4.99214861e+01] [ 8.34787039e-02 1.64816572e-02 9.96373254e-01 -4.04372485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.42, Y:-49.97, Z:-4.01 [[ 8.85103731e-01 4.62015797e-01 -5.59713160e-02 1.25421190e+02] [-4.56437015e-01 8.85250123e-01 8.94285809e-02 -4.99654464e+01] [ 9.08660314e-02 -5.36061902e-02 9.94419298e-01 -4.00821128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:-49.95, Z:-4.02 [[ 8.84011425e-01 4.60507470e-01 -8.03534171e-02 1.25465363e+02] [-4.58416964e-01 8.87653690e-01 4.38727027e-02 -4.99547391e+01] [ 9.15297145e-02 -1.94860093e-03 9.95800439e-01 -4.01959364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:-49.97, Z:-4.02 [[ 8.83475872e-01 4.60906222e-01 -8.38799001e-02 1.25496822e+02] [-4.59227674e-01 8.87441340e-01 3.94691208e-02 -4.99666409e+01] [ 9.26300543e-02 3.64995540e-03 9.95693904e-01 -4.01877762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:-49.98, Z:-4.01 [[ 8.82581534e-01 4.63751531e-01 -7.73586030e-02 1.25523244e+02] [-4.61229029e-01 8.85933919e-01 4.88760979e-02 -4.99833598e+01] [ 9.12009756e-02 -7.45710807e-03 9.95804586e-01 -4.01226926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-49.99, Z:-4.01 [[ 8.82065003e-01 4.62824655e-01 -8.80606013e-02 1.25557376e+02] [-4.61572246e-01 8.86399066e-01 3.53235998e-02 -4.99892084e+01] [ 9.44054677e-02 9.48861842e-03 9.95488611e-01 -4.01496996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-50.00, Z:-4.01 [[ 8.81777484e-01 4.62703663e-01 -9.15084076e-02 1.25589963e+02] [-4.61545409e-01 8.86436862e-01 3.47206771e-02 -4.99996935e+01] [ 9.71818101e-02 1.16193741e-02 9.95198817e-01 -4.01360753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:-50.03, Z:-4.00 [[ 8.82508466e-01 4.65393904e-01 -6.77297687e-02 1.25606956e+02] [-4.61550801e-01 8.84712891e-01 6.52223827e-02 -5.00306188e+01] [ 9.02754988e-02 -2.62985759e-02 9.95569545e-01 -3.99974124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13361786499996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.65, Y:-50.03, Z:-4.01 [[ 8.82523727e-01 4.61302482e-01 -9.13886840e-02 1.25646848e+02] [-4.60452494e-01 8.87127217e-01 3.14452077e-02 -5.00256638e+01] [ 9.55791413e-02 1.43290056e-02 9.95318696e-01 -4.00981787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16361786499996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.67, Y:-50.05, Z:-4.00 [[ 8.83395827e-01 4.60803345e-01 -8.52765539e-02 1.25672851e+02] [-4.58626331e-01 8.87502172e-01 4.47412885e-02 -5.00473682e+01] [ 9.63000622e-02 -4.14194428e-04 9.95352263e-01 -4.00428153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:-50.06, Z:-4.00 [[ 8.86391775e-01 4.56849614e-01 -7.48201301e-02 1.25695862e+02] [-4.53548507e-01 8.89383014e-01 5.73725246e-02 -5.00639614e+01] [ 9.27543685e-02 -1.69199756e-02 9.95545248e-01 -3.99748016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:-50.07, Z:-4.00 [[ 8.87284241e-01 4.54826904e-01 -7.65451658e-02 1.25727135e+02] [-4.52333369e-01 8.90542123e-01 4.82623167e-02 -5.00748778e+01] [ 9.01176946e-02 -8.19846037e-03 9.95897377e-01 -3.99699986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25361786499997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.76, Y:-50.09, Z:-3.99 [[ 8.86871594e-01 4.54674487e-01 -8.20358856e-02 1.25759035e+02] [-4.52765299e-01 8.90657655e-01 4.16236200e-02 -5.00881988e+01] [ 9.19910876e-02 2.28196087e-04 9.95759804e-01 -3.99476509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-50.10, Z:-3.99 [[ 8.87713763e-01 4.53444823e-01 -7.96998615e-02 1.25786834e+02] [-4.51336994e-01 8.91279698e-01 4.37654923e-02 -5.01041389e+01] [ 9.08801044e-02 -2.87973393e-03 9.95857677e-01 -3.98851564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:-50.12, Z:-3.99 [[ 8.88867627e-01 4.51086949e-01 -8.02178652e-02 1.25815824e+02] [-4.48939356e-01 8.92474388e-01 4.40785800e-02 -5.01171115e+01] [ 9.14756624e-02 -3.16706606e-03 9.95802276e-01 -3.98550716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:-50.13, Z:-3.98 [[ 8.89104055e-01 4.50651650e-01 -8.00441744e-02 1.25845257e+02] [-4.48509180e-01 8.92694050e-01 4.40096441e-02 -5.01322885e+01] [ 9.12879770e-02 -3.22860596e-03 9.95819302e-01 -3.98250538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:-50.15, Z:-3.98 [[ 8.89977689e-01 4.48891137e-01 -8.02275560e-02 1.25875734e+02] [-4.46729040e-01 8.93579819e-01 4.41392224e-02 -5.01450693e+01] [ 9.15034307e-02 -3.44294404e-03 9.95798809e-01 -3.98132125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:-50.16, Z:-3.97 [[ 8.88668498e-01 4.50980395e-01 -8.29757973e-02 1.25904626e+02] [-4.48673306e-01 8.92527501e-01 4.56828673e-02 -5.01590337e+01] [ 9.46602586e-02 -3.36789979e-03 9.95503939e-01 -3.97419562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:-50.17, Z:-3.97 [[ 8.88088804e-01 4.52649772e-01 -8.00403624e-02 1.25932576e+02] [-4.50507584e-01 8.91682996e-01 4.40947951e-02 -5.01737364e+01] [ 9.13301291e-02 -3.10130358e-03 9.95815841e-01 -3.97367885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:-50.19, Z:-3.97 [[ 8.86935705e-01 4.54907467e-01 -8.00265710e-02 1.25963078e+02] [-4.52773459e-01 8.90534038e-01 4.41058070e-02 -5.01871089e+01] [ 9.13304464e-02 -2.88510766e-03 9.95816462e-01 -3.97033636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:-50.20, Z:-3.97 [[ 8.86699441e-01 4.54929119e-01 -8.24839242e-02 1.25993226e+02] [-4.52659009e-01 8.90522602e-01 4.54897405e-02 -5.02007628e+01] [ 9.41484064e-02 -2.99863609e-03 9.95553658e-01 -3.96585934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:-50.22, Z:-3.96 [[ 8.85592155e-01 4.57410934e-01 -8.06335725e-02 1.26020923e+02] [-4.55249316e-01 8.89251344e-01 4.44983932e-02 -5.02165979e+01] [ 9.20575643e-02 -2.69904915e-03 9.95750029e-01 -3.96416220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-50.23, Z:-3.96 [[ 8.85009498e-01 4.58431401e-01 -8.12332394e-02 1.26051569e+02] [-4.56239091e-01 8.88725882e-01 4.48575370e-02 -5.02291078e+01] [ 9.27581859e-02 -2.63756702e-03 9.95685172e-01 -3.96320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:-50.24, Z:-3.96 [[ 8.84297660e-01 4.59696530e-01 -8.18336624e-02 1.26081278e+02] [-4.57474145e-01 8.88072403e-01 4.52196054e-02 -5.02436003e+01] [ 9.34615130e-02 -2.55080651e-03 9.95619626e-01 -3.95980960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.11, Y:-50.26, Z:-3.96 [[ 8.83084879e-01 4.61727446e-01 -8.34797126e-02 1.26110337e+02] [-4.59420523e-01 8.87018573e-01 4.61609510e-02 -5.02580648e+01] [ 9.53618335e-02 -2.41174455e-03 9.95439754e-01 -3.95746953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:-50.27, Z:-3.95 [[ 8.82681435e-01 4.62821560e-01 -8.16681567e-02 1.26140083e+02] [-4.60615792e-01 8.86448561e-01 4.51889431e-02 -5.02729897e+01] [ 9.33090371e-02 -2.26979851e-03 9.95634607e-01 -3.95395086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:-50.29, Z:-3.95 [[ 8.80470632e-01 4.67328190e-01 -7.98487841e-02 1.26168086e+02] [-4.65235610e-01 8.84082123e-01 4.42111544e-02 -5.02874532e+01] [ 9.12540013e-02 -1.77812530e-03 9.95826062e-01 -3.95040724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:-50.30, Z:-3.95 [[ 8.80722032e-01 4.66969036e-01 -7.91746284e-02 1.26198116e+02] [-4.65193418e-01 8.84273114e-01 4.06957460e-02 -5.02982003e+01] [ 8.90156485e-02 9.89875913e-04 9.96029736e-01 -3.95331804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:-50.31, Z:-3.95 [[ 8.80028453e-01 4.68222653e-01 -7.94825122e-02 1.26228413e+02] [-4.66758477e-01 8.83599970e-01 3.72507361e-02 -5.03109952e+01] [ 8.76723839e-02 4.31742871e-03 9.96140007e-01 -3.95282164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.25, Y:-50.33, Z:-3.95 [[ 8.77607304e-01 4.73394380e-01 -7.55194040e-02 1.26253598e+02] [-4.70811421e-01 8.80810453e-01 5.00954285e-02 -5.03317704e+01] [ 9.02331748e-02 -8.40871603e-03 9.95885168e-01 -3.94727230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:-50.35, Z:-3.94 [[ 8.75455668e-01 4.76590547e-01 -8.02422828e-02 1.26283143e+02] [-4.74515255e-01 8.79125002e-01 4.44353854e-02 -5.03473020e+01] [ 9.17204817e-02 -8.25022720e-04 9.95784451e-01 -3.93974960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:-50.36, Z:-3.94 [[ 8.74168900e-01 4.78909278e-01 -8.04651265e-02 1.26310622e+02] [-4.76818432e-01 8.77864108e-01 4.47078371e-02 -5.03624293e+01] [ 9.20484445e-02 -7.14945340e-04 9.95754273e-01 -3.93651924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85361786499996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.34, Y:-50.38, Z:-3.94 [[ 8.73849169e-01 4.79529795e-01 -8.02421720e-02 1.26337493e+02] [-4.77451084e-01 8.77525345e-01 4.46064096e-02 -5.03765943e+01] [ 9.18046421e-02 -6.67561931e-04 9.95776813e-01 -3.93587903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:-50.39, Z:-3.93 [[ 8.73659643e-01 4.79965370e-01 -7.96998814e-02 1.26362321e+02] [-4.77916534e-01 8.77287218e-01 4.43049070e-02 -5.03911144e+01] [ 9.11845082e-02 -6.17518178e-04 9.95833824e-01 -3.93134685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:-50.41, Z:-3.93 [[ 8.73806540e-01 4.79748515e-01 -7.93945410e-02 1.26387649e+02] [-4.77714646e-01 8.77405811e-01 4.41334245e-02 -5.04056001e+01] [ 9.08341765e-02 -6.36139936e-04 9.95865828e-01 -3.92918263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94361786499996 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:126.41, Y:-50.42, Z:-3.93 [[ 8.74244764e-01 4.78876305e-01 -7.98346873e-02 1.26413557e+02] [-4.76816309e-01 8.77882083e-01 4.43762867e-02 -5.04196672e+01] [ 9.13361938e-02 -7.29255278e-04 9.95819847e-01 -3.93043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:-50.43, Z:-3.93 [[ 8.75863739e-01 4.76124084e-01 -7.85402297e-02 1.26440335e+02] [-4.74184370e-01 8.79378033e-01 4.29355220e-02 -5.04331618e+01] [ 8.95091888e-02 -3.63117460e-04 9.95985930e-01 -3.92804250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00361786499997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:126.47, Y:-50.45, Z:-3.92 [[ 8.75769912e-01 4.76000269e-01 -8.03168978e-02 1.26468088e+02] [-4.73902428e-01 8.79444516e-01 4.46523495e-02 -5.04536722e+01] [ 9.18887857e-02 -1.04281134e-03 9.95768730e-01 -3.92336399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03361786499997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.50, Y:-50.47, Z:-3.92 [[ 8.76204244e-01 4.75133323e-01 -8.07121325e-02 1.26495991e+02] [-4.73008038e-01 8.79913042e-01 4.49047369e-02 -5.04701598e+01] [ 9.23553948e-02 -1.16823363e-03 9.95725422e-01 -3.92064235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:-50.49, Z:-3.92 [[ 8.77736388e-01 4.72246235e-01 -8.10081935e-02 1.26524412e+02] [-4.70090278e-01 8.81465390e-01 4.50987511e-02 -5.04866248e+01] [ 9.27036342e-02 -1.50365067e-03 9.95692611e-01 -3.91705592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09361786499997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:126.55, Y:-50.50, Z:-3.92 [[ 8.78221704e-01 4.71141354e-01 -8.21733757e-02 1.26552248e+02] [-4.68914954e-01 8.82056137e-01 4.57792202e-02 -5.05021204e+01] [ 9.40500142e-02 -1.67198015e-03 9.95566070e-01 -3.91579621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12361786499997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.58, Y:-50.52, Z:-3.91 [[ 8.78314040e-01 4.71183131e-01 -8.09376559e-02 1.26578564e+02] [-4.69020882e-01 8.82033830e-01 4.51191217e-02 -5.05201111e+01] [ 9.26491196e-02 -1.66730730e-03 9.95697424e-01 -3.91108590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:-50.54, Z:-3.90 [[ 8.79925371e-01 4.67697230e-01 -8.36100652e-02 1.26605678e+02] [-4.65370914e-01 8.83886175e-01 4.66384251e-02 -5.05373209e+01] [ 9.57144430e-02 -2.12864109e-03 9.95406557e-01 -3.90457325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18361786499997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:126.63, Y:-50.55, Z:-3.91 [[ 8.80902644e-01 4.65769978e-01 -8.40765088e-02 1.26632485e+02] [-4.64281958e-01 8.84886424e-01 3.76600492e-02 -5.05467890e+01] [ 9.19390815e-02 5.86036923e-03 9.95747388e-01 -3.91381356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.66, Y:-50.57, Z:-3.90 [[ 8.81486527e-01 4.65833629e-01 -7.73339088e-02 1.26657955e+02] [-4.63150038e-01 8.84827693e-01 5.07148433e-02 -5.05729323e+01] [ 9.20518636e-02 -8.88724826e-03 9.95714553e-01 -3.90173683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.69, Y:-50.59, Z:-3.90 [[ 8.81404669e-01 4.65452160e-01 -8.04990471e-02 1.26688848e+02] [-4.63271813e-01 8.85069712e-01 4.50647552e-02 -5.05863015e+01] [ 9.22227561e-02 -2.42734616e-03 9.95735442e-01 -3.90037601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:-50.60, Z:-3.90 [[ 8.81360795e-01 4.65365379e-01 -8.14752323e-02 1.26716754e+02] [-4.63130023e-01 8.85115202e-01 4.56252344e-02 -5.06043382e+01] [ 9.33473712e-02 -2.47866668e-03 9.95630516e-01 -3.89606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:-50.62, Z:-3.89 [[ 8.80974948e-01 4.65747979e-01 -8.34383696e-02 1.26742997e+02] [-4.63403551e-01 8.84913846e-01 4.67400737e-02 -5.06229500e+01] [ 9.56048634e-02 -2.51119718e-03 9.95416196e-01 -3.89125185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-50.64, Z:-3.89 [[ 8.80467924e-01 4.66424335e-01 -8.49975009e-02 1.26770499e+02] [-4.63991303e-01 8.84557534e-01 4.76449381e-02 -5.06400441e+01] [ 9.74079384e-02 -2.51173850e-03 9.95241370e-01 -3.88678229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.80, Y:-50.66, Z:-3.89 [[ 8.79972288e-01 4.67715419e-01 -8.30124037e-02 1.26797601e+02] [-4.65397726e-01 8.83876014e-01 4.65633900e-02 -5.06572519e+01] [ 9.51510880e-02 -2.34070894e-03 9.95460090e-01 -3.88909152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.83, Y:-50.67, Z:-3.89 [[ 8.79553817e-01 4.68493610e-01 -8.30591387e-02 1.26826652e+02] [-4.66352291e-01 8.83466667e-01 4.47458316e-02 -5.06737321e+01] [ 9.43431166e-02 -6.21547403e-04 9.95539547e-01 -3.88884526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:126.85, Y:-50.69, Z:-3.88 [[ 8.78938757e-01 4.70036871e-01 -8.08207952e-02 1.26852122e+02] [-4.67666226e-01 8.82638704e-01 4.72992482e-02 -5.06921530e+01] [ 9.35679526e-02 -3.77598609e-03 9.95605735e-01 -3.88251439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.88, Y:-50.71, Z:-3.88 [[ 8.78509457e-01 4.70701718e-01 -8.16151095e-02 1.26880238e+02] [-4.68548117e-01 8.82291469e-01 4.49936119e-02 -5.07079402e+01] [ 9.31868853e-02 -1.28670774e-03 9.95647804e-01 -3.88267321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:-50.72, Z:-3.88 [[ 8.78167058e-01 4.71314733e-01 -8.17620942e-02 1.26908620e+02] [-4.69391686e-01 8.81964505e-01 4.25447664e-02 -5.07239301e+01] [ 9.21632402e-02 1.01703489e-03 9.95743392e-01 -3.88052714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-50.75, Z:-3.87 [[ 8.76365301e-01 4.75488088e-01 -7.67784979e-02 1.26932535e+02] [-4.73157928e-01 8.79707271e-01 4.72936888e-02 -5.07455694e+01] [ 9.00301885e-02 -5.11819281e-03 9.95925885e-01 -3.87189855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.96, Y:-50.76, Z:-3.87 [[ 8.75647906e-01 4.76557342e-01 -7.83188676e-02 1.26961547e+02] [-4.74516661e-01 8.79142221e-01 4.40782656e-02 -5.07607089e+01] [ 8.98592444e-02 -1.43343338e-03 9.95953443e-01 -3.87123388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-50.78, Z:-3.87 [[ 8.74436290e-01 4.79002511e-01 -7.69270352e-02 1.26987729e+02] [-4.77040904e-01 8.77812731e-01 4.33218780e-02 -5.07789444e+01] [ 8.82788192e-02 -1.18487987e-03 9.96095099e-01 -3.86817468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:-50.80, Z:-3.87 [[ 8.74046534e-01 4.79824005e-01 -7.62337243e-02 1.27015514e+02] [-4.77898587e-01 8.77364054e-01 4.29564601e-02 -5.07963324e+01] [ 8.74962702e-02 -1.11395599e-03 9.96164224e-01 -3.86583810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:-50.81, Z:-3.86 [[ 8.73507119e-01 4.80861647e-01 -7.58774610e-02 1.27042116e+02] [-4.78955735e-01 8.76795881e-01 4.27830313e-02 -5.08136098e+01] [ 8.71017642e-02 -1.02933738e-03 9.96198887e-01 -3.86337862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:-50.83, Z:-3.86 [[ 8.73249271e-01 4.81504124e-01 -7.47628831e-02 1.27068832e+02] [-4.79654122e-01 8.76443285e-01 4.21792733e-02 -5.08326616e+01] [ 8.58349209e-02 -9.72694636e-04 9.96308898e-01 -3.86164755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:-50.85, Z:-3.86 [[ 8.73240336e-01 4.81590408e-01 -7.43101212e-02 1.27096794e+02] [-4.79760867e-01 8.76395867e-01 4.19499068e-02 -5.08504260e+01] [ 8.53277558e-02 -9.81262625e-04 9.96352453e-01 -3.85898181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:-50.87, Z:-3.86 [[ 8.74033929e-01 4.80099087e-01 -7.46294637e-02 1.27125206e+02] [-4.78245963e-01 8.77213503e-01 4.21576677e-02 -5.08667657e+01] [ 8.57058311e-02 -1.15599225e-03 9.96319815e-01 -3.85983206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:-50.89, Z:-3.86 [[ 8.74202496e-01 4.79856928e-01 -7.42113581e-02 1.27151830e+02] [-4.78022676e-01 8.77345957e-01 4.19331925e-02 -5.08853163e+01] [ 8.52309679e-02 -1.18338959e-03 9.96360518e-01 -3.85704880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.18, Y:-50.90, Z:-3.85 [[ 8.73750316e-01 4.80923975e-01 -7.26120902e-02 1.27178179e+02] [-4.79169610e-01 8.76761637e-01 4.10550570e-02 -5.09041411e+01] [ 8.34078563e-02 -1.07836208e-03 9.96514910e-01 -3.85235861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:-50.92, Z:-3.85 [[ 8.73673775e-01 4.81071076e-01 -7.25586308e-02 1.27204489e+02] [-4.79317599e-01 8.76680922e-01 4.10511883e-02 -5.09217271e+01] [ 8.33593067e-02 -1.08671790e-03 9.96518964e-01 -3.84901439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:-50.94, Z:-3.85 [[ 8.73553823e-01 4.81284522e-01 -7.25873831e-02 1.27230832e+02] [-4.79528348e-01 8.76563760e-01 4.10918301e-02 -5.09411287e+01] [ 8.34043312e-02 -1.08821738e-03 9.96515195e-01 -3.84714417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:-50.96, Z:-3.84 [[ 8.73493208e-01 4.81340663e-01 -7.29436929e-02 1.27257664e+02] [-4.79565084e-01 8.76532903e-01 4.13207105e-02 -5.09581139e+01] [ 8.38268850e-02 -1.11211178e-03 9.96479712e-01 -3.84486757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:-50.97, Z:-3.85 [[ 8.74484185e-01 4.79514922e-01 -7.30948006e-02 1.27284160e+02] [-4.77747330e-01 8.77533082e-01 4.11482431e-02 -5.09724069e+01] [ 8.38743022e-02 -1.06264205e-03 9.96475776e-01 -3.84856971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:-50.99, Z:-3.84 [[ 8.73474545e-01 4.81138725e-01 -7.44831937e-02 1.27313028e+02] [-4.79310121e-01 8.76643994e-01 4.19179648e-02 -5.09923586e+01] [ 8.54636006e-02 -9.13726670e-04 9.96340874e-01 -3.84469530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:-51.01, Z:-3.84 [[ 8.72658403e-01 4.82705330e-01 -7.39112728e-02 1.27338701e+02] [-4.80881676e-01 8.75782200e-01 4.19327053e-02 -5.10109034e+01] [ 8.49713175e-02 -1.05035089e-03 9.96382844e-01 -3.83927989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:-51.03, Z:-3.84 [[ 8.72606761e-01 4.82700254e-01 -7.45513568e-02 1.27366229e+02] [-4.80843316e-01 8.75784967e-01 4.23130854e-02 -5.10287946e+01] [ 8.57154947e-02 -1.07516277e-03 9.96319074e-01 -3.83643363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:-51.05, Z:-3.84 [[ 8.73519480e-01 4.80859590e-01 -7.57480843e-02 1.27393333e+02] [-4.78933106e-01 8.76796649e-01 4.30199517e-02 -5.10480645e+01] [ 8.71022228e-02 -1.30050055e-03 9.96198530e-01 -3.83508488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:-51.07, Z:-3.83 [[ 8.73058758e-01 4.81947765e-01 -7.41266306e-02 1.27419320e+02] [-4.80104713e-01 8.76199143e-01 4.21251331e-02 -5.10677037e+01] [ 8.52518040e-02 -1.18917161e-03 9.96358728e-01 -3.83087999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-51.09, Z:-3.83 [[ 8.73149666e-01 4.81830596e-01 -7.38169229e-02 1.27445628e+02] [-4.80000224e-01 8.76263539e-01 4.19761206e-02 -5.10854269e+01] [ 8.49084573e-02 -1.21929614e-03 9.96388010e-01 -3.82832937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-51.11, Z:-3.83 [[ 8.73193816e-01 4.81795261e-01 -7.35247283e-02 1.27472502e+02] [-4.79977141e-01 8.76282939e-01 4.18348581e-02 -5.11050934e+01] [ 8.45843014e-02 -1.23975053e-03 9.96415555e-01 -3.82568788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:-51.12, Z:-3.82 [[ 8.72964457e-01 4.82250419e-01 -7.32638462e-02 1.27499139e+02] [-4.80444517e-01 8.76032566e-01 4.17134170e-02 -5.11227516e+01] [ 8.42978280e-02 -1.21511724e-03 9.96439863e-01 -3.82270383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:-51.14, Z:-3.82 [[ 8.72617823e-01 4.82921364e-01 -7.29732216e-02 1.27526546e+02] [-4.81130038e-01 8.75662945e-01 4.15727522e-02 -5.11410453e+01] [ 8.39763163e-02 -1.16751562e-03 9.96467067e-01 -3.81952163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:-51.16, Z:-3.82 [[ 8.71603334e-01 4.84852040e-01 -7.22919609e-02 1.27552542e+02] [-4.83098525e-01 8.74595626e-01 4.12105057e-02 -5.11608968e+01] [ 8.32072305e-02 -9.95074508e-04 9.96531769e-01 -3.81698997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.58, Y:-51.17, Z:-3.82 [[ 8.72606627e-01 4.83194559e-01 -7.12789740e-02 1.27578707e+02] [-4.81482899e-01 8.75512244e-01 4.06513092e-02 -5.11730923e+01] [ 8.20481059e-02 -1.15299479e-03 9.96627703e-01 -3.81916350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.60, Y:-51.20, Z:-3.81 [[ 8.69423071e-01 4.88849471e-01 -7.16220477e-02 1.27604812e+02] [-4.87208184e-01 8.72368148e-01 4.00249948e-02 -5.11965061e+01] [ 8.20469907e-02 9.61939646e-05 9.96628457e-01 -3.81207632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:-51.21, Z:-3.81 [[ 8.68542893e-01 4.90435652e-01 -7.14570763e-02 1.27632292e+02] [-4.88735084e-01 8.71477251e-01 4.08095344e-02 -5.12147267e+01] [ 8.22876671e-02 -5.21250809e-04 9.96608483e-01 -3.80890087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.66, Y:-51.23, Z:-3.81 [[ 8.67932951e-01 4.91618936e-01 -7.07333967e-02 1.27659570e+02] [-4.89954569e-01 8.70810335e-01 4.04212884e-02 -5.12323199e+01] [ 8.14672437e-02 -4.26817214e-04 9.96675928e-01 -3.80630722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.69, Y:-51.25, Z:-3.80 [[ 8.66647840e-01 4.93736002e-01 -7.17375923e-02 1.27685466e+02] [-4.92029008e-01 8.69611808e-01 4.10214539e-02 -5.12523487e+01] [ 8.26376260e-02 -2.54178107e-04 9.96579630e-01 -3.80323567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:-51.27, Z:-3.80 [[ 8.66015746e-01 4.94846182e-01 -7.17215794e-02 1.27712782e+02] [-4.93141607e-01 8.68980568e-01 4.10381326e-02 -5.12707394e+01] [ 8.26322220e-02 -1.70774064e-04 9.96580095e-01 -3.80037988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:-51.29, Z:-3.80 [[ 8.65481892e-01 4.95759917e-01 -7.18554028e-02 1.27739178e+02] [-4.94049901e-01 8.68459609e-01 4.11412536e-02 -5.12887808e+01] [ 8.27996996e-02 -1.06855423e-04 9.96566204e-01 -3.79767756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:-51.31, Z:-3.79 [[ 8.64800268e-01 4.96945621e-01 -7.18717363e-02 1.27765206e+02] [-4.95236875e-01 8.67781683e-01 4.11750921e-02 -5.13087130e+01] [ 8.28307580e-02 -1.46965602e-05 9.96563628e-01 -3.79496160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:-51.33, Z:-3.79 [[ 8.64651990e-01 4.97248905e-01 -7.15574095e-02 1.27791441e+02] [-4.95554060e-01 8.67607934e-01 4.10200818e-02 -5.13263368e+01] [ 8.24809669e-02 -7.53060909e-06 9.96592640e-01 -3.79220734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:-51.35, Z:-3.79 [[ 8.64735741e-01 4.97106296e-01 -7.15362015e-02 1.27817521e+02] [-4.95410059e-01 8.67689650e-01 4.10310211e-02 -5.13467694e+01] [ 8.24680005e-02 -4.12365933e-05 9.96593712e-01 -3.78930078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.84, Y:-51.37, Z:-3.79 [[ 8.64680203e-01 4.97157797e-01 -7.18489467e-02 1.27844184e+02] [-4.95444701e-01 8.67660142e-01 4.12362388e-02 -5.13653569e+01] [ 8.28413849e-02 -5.89795221e-05 9.96562743e-01 -3.78634926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.87, Y:-51.38, Z:-3.78 [[ 8.64842756e-01 4.96840444e-01 -7.20873071e-02 1.27871624e+02] [-4.95112681e-01 8.67841898e-01 4.13989526e-02 -5.13843839e+01] [ 8.31290595e-02 -1.12244400e-04 9.96538783e-01 -3.78334230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.90, Y:-51.40, Z:-3.78 [[ 8.65012614e-01 4.96468534e-01 -7.26097235e-02 1.27897619e+02] [-4.94712068e-01 8.68054702e-01 4.17253396e-02 -5.14025791e+01] [ 8.37445300e-02 -1.72038575e-04 9.96487242e-01 -3.78050018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.92, Y:-51.42, Z:-3.78 [[ 8.65363348e-01 4.95795252e-01 -7.30297485e-02 1.27923151e+02] [-4.94013913e-01 8.68439405e-01 4.19911103e-02 -5.14233597e+01] [ 8.42409044e-02 -2.59855947e-04 9.96445384e-01 -3.77769842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.95, Y:-51.44, Z:-3.77 [[ 8.65411915e-01 4.95673744e-01 -7.32786289e-02 1.27949167e+02] [-4.93877444e-01 8.68508752e-01 4.21618154e-02 -5.14411202e+01] [ 8.45416354e-02 -2.96675470e-04 9.96419903e-01 -3.77492266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:-51.46, Z:-3.77 [[ 8.65534064e-01 4.95355503e-01 -7.39845288e-02 1.27976378e+02] [-4.93521785e-01 8.68690282e-01 4.25845154e-02 -5.14593961e+01] [ 8.53641153e-02 -3.45371954e-04 9.96349762e-01 -3.77180309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:128.00, Y:-51.48, Z:-3.77 [[ 8.65620231e-01 4.95120479e-01 -7.45474852e-02 1.28001846e+02] [-4.93255434e-01 8.68824237e-01 4.29362553e-02 -5.14791604e+01] [ 8.60272813e-02 -3.95539075e-04 9.96292703e-01 -3.76921437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:128.03, Y:-51.50, Z:-3.77 [[ 8.65358986e-01 4.95549433e-01 -7.47300783e-02 1.28029344e+02] [-4.93674605e-01 8.68579655e-01 4.30670034e-02 -5.14964939e+01] [ 8.62508548e-02 -3.76076495e-04 9.96273380e-01 -3.76593391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.06, Y:-51.51, Z:-3.76 [[ 8.64612790e-01 4.96959452e-01 -7.40001777e-02 1.28057613e+02] [-4.95124022e-01 8.67773725e-01 4.26727617e-02 -5.15125101e+01] [ 8.54220421e-02 -2.56149890e-04 9.96344824e-01 -3.76292479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:-51.53, Z:-3.76 [[ 8.63069642e-01 4.99682401e-01 -7.36769381e-02 1.28085358e+02] [-4.97870580e-01 8.66208692e-01 4.25133868e-02 -5.15280687e+01] [ 8.50627954e-02 -1.04335969e-05 9.96375592e-01 -3.75938263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.11, Y:-51.54, Z:-3.76 [[ 8.62017547e-01 5.01433699e-01 -7.40945019e-02 1.28113140e+02] [-4.99606290e-01 8.65196061e-01 4.27706887e-02 -5.15433764e+01] [ 8.55529358e-02 1.48995009e-04 9.96333615e-01 -3.75622083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.14, Y:-51.56, Z:-3.75 [[ 8.61038808e-01 5.02907928e-01 -7.54704362e-02 1.28140838e+02] [-5.01015304e-01 8.64339944e-01 4.35904516e-02 -5.15602572e+01] [ 8.71540963e-02 2.78772974e-04 9.96194803e-01 -3.75332744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.17, Y:-51.58, Z:-3.75 [[ 8.60854487e-01 5.03124921e-01 -7.61240177e-02 1.28169221e+02] [-5.01197796e-01 8.64213651e-01 4.39947027e-02 -5.15774968e+01] [ 8.79222466e-02 2.80152758e-04 9.96127301e-01 -3.74990923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-51.59, Z:-3.75 [[ 8.60859169e-01 5.03016174e-01 -7.67868525e-02 1.28197562e+02] [-5.01052412e-01 8.64276962e-01 4.44051056e-02 -5.15940380e+01] [ 8.87015939e-02 2.47695353e-04 9.96058214e-01 -3.74670339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.23, Y:-51.61, Z:-3.74 [[ 8.60991992e-01 5.02725387e-01 -7.72008758e-02 1.28226301e+02] [-5.00736706e-01 8.64446151e-01 4.46721823e-02 -5.16106617e+01] [ 8.91938401e-02 1.94921012e-04 9.96014267e-01 -3.74369558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.25, Y:-51.63, Z:-3.74 [[ 8.61865920e-01 5.01153719e-01 -7.76665102e-02 1.28254144e+02] [-4.99131992e-01 8.65358279e-01 4.49700389e-02 -5.16256793e+01] [ 8.97462598e-02 7.69598418e-06 9.95964662e-01 -3.74047583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.28, Y:-51.64, Z:-3.74 [[ 8.62307821e-01 5.00424683e-01 -7.74619824e-02 1.28282730e+02] [-4.98408321e-01 8.65780069e-01 4.48778106e-02 -5.16413107e+01] [ 8.95230046e-02 -9.07905075e-05 9.95984751e-01 -3.73740406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:-51.66, Z:-3.73 [[ 8.62858729e-01 4.99446569e-01 -7.76397977e-02 1.28310690e+02] [-4.97414553e-01 8.66344665e-01 4.50076002e-02 -5.16565000e+01] [ 8.97417160e-02 -2.16035521e-04 9.95965048e-01 -3.73395316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.34, Y:-51.67, Z:-3.73 [[ 8.63435658e-01 4.98436678e-01 -7.77157753e-02 1.28338952e+02] [-4.96395088e-01 8.66926044e-01 4.50683048e-02 -5.16723951e+01] [ 8.98375257e-02 -3.35852328e-04 9.95956378e-01 -3.73037962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.37, Y:-51.69, Z:-3.73 [[ 8.64835893e-01 4.96028249e-01 -7.75554966e-02 1.28367508e+02] [-4.93983031e-01 8.68306171e-01 4.50017582e-02 -5.16889750e+01] [ 8.96640596e-02 -6.08036414e-04 9.95971880e-01 -3.72675187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:-51.71, Z:-3.72 [[ 8.65495215e-01 4.94863728e-01 -7.76397073e-02 1.28395375e+02] [-4.92806914e-01 8.68970266e-01 4.50779502e-02 -5.17051184e+01] [ 8.97740396e-02 -7.53365586e-04 9.95961874e-01 -3.72370027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:-51.72, Z:-3.72 [[ 8.65406586e-01 4.95020433e-01 -7.76286793e-02 1.28424127e+02] [-4.92962546e-01 8.68881001e-01 4.50969335e-02 -5.17219377e+01] [ 8.97739882e-02 -7.59151897e-04 9.95961874e-01 -3.72069814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.45, Y:-51.74, Z:-3.72 [[ 8.66768837e-01 4.92564636e-01 -7.80503918e-02 1.28452984e+02] [-4.90472612e-01 8.70275248e-01 4.53608814e-02 -5.17375480e+01] [ 9.02684901e-02 -1.03581884e-03 9.95916928e-01 -3.71766560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.48, Y:-51.75, Z:-3.71 [[ 8.67456557e-01 4.91341790e-01 -7.81176463e-02 1.28481201e+02] [-4.89238582e-01 8.70966033e-01 4.54288332e-02 -5.17532714e+01] [ 9.03589007e-02 -1.18937278e-03 9.95908557e-01 -3.71491328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.51, Y:-51.77, Z:-3.71 [[ 8.68012019e-01 4.90356450e-01 -7.81389002e-02 1.28509484e+02] [-4.88246465e-01 8.71520993e-01 4.54593005e-02 -5.17689354e+01] [ 9.03909531e-02 -1.30817740e-03 9.95905500e-01 -3.71179559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:128.54, Y:-51.78, Z:-3.71 [[ 8.68612643e-01 4.89313672e-01 -7.80013320e-02 1.28537080e+02] [-4.87204335e-01 8.72106679e-01 4.54078983e-02 -5.17842825e+01] [ 9.02441880e-02 -1.43928741e-03 9.95918629e-01 -3.70930756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-51.80, Z:-3.71 [[ 8.69539884e-01 4.87566914e-01 -7.86059429e-02 1.28565662e+02] [-4.85415877e-01 8.73084065e-01 4.57781898e-02 -5.18002646e+01] [ 9.09495268e-02 -1.64938916e-03 9.95854137e-01 -3.70547770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:-51.82, Z:-3.70 [[ 8.69905137e-01 4.86906611e-01 -7.86575164e-02 1.28594301e+02] [-4.84747451e-01 8.73452293e-01 4.58366601e-02 -5.18171645e+01] [ 9.10217610e-02 -1.74451550e-03 9.95847376e-01 -3.70236765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:-51.83, Z:-3.70 [[ 8.70428549e-01 4.85850037e-01 -7.93969921e-02 1.28622662e+02] [-4.83642945e-01 8.74040124e-01 4.62964671e-02 -5.18339425e+01] [ 9.18892971e-02 -1.89797159e-03 9.95767420e-01 -3.69840802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.65, Y:-51.85, Z:-3.70 [[ 8.70512805e-01 4.85710115e-01 -7.93293250e-02 1.28649928e+02] [-4.83503587e-01 8.74117805e-01 4.62854703e-02 -5.18495712e+01] [ 9.18244965e-02 -1.93608139e-03 9.95773324e-01 -3.69568660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.68, Y:-51.87, Z:-3.69 [[ 8.70288670e-01 4.86119851e-01 -7.92787609e-02 1.28678754e+02] [-4.83916167e-01 8.73890069e-01 4.62740896e-02 -5.18660883e+01] [ 9.17756753e-02 -1.90754184e-03 9.95777880e-01 -3.69286604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:-51.88, Z:-3.69 [[ 8.69914046e-01 4.86654785e-01 -8.01041336e-02 1.28707718e+02] [-4.84404417e-01 8.73592311e-01 4.67849954e-02 -5.18822962e+01] [ 9.27464970e-02 -1.89612851e-03 9.95687949e-01 -3.68959837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:-51.90, Z:-3.69 [[ 8.69721778e-01 4.86936066e-01 -8.04816596e-02 1.28735435e+02] [-4.84662755e-01 8.73435546e-01 4.70357485e-02 -5.18982778e+01] [ 9.31989446e-02 -1.90155194e-03 9.95645690e-01 -3.68660042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-51.91, Z:-3.68 [[ 8.69472480e-01 4.87355964e-01 -8.06335519e-02 1.28763248e+02] [-4.85073192e-01 8.73201358e-01 4.71528095e-02 -5.19148927e+01] [ 9.33895299e-02 -1.88489580e-03 9.95627864e-01 -3.68399752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.79, Y:-51.93, Z:-3.68 [[ 8.69271132e-01 4.87627218e-01 -8.11627672e-02 1.28791164e+02] [-4.85312639e-01 8.73049888e-01 4.74924808e-02 -5.19320641e+01] [ 9.40177711e-02 -1.89452589e-03 9.95568717e-01 -3.68084665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:-51.95, Z:-3.68 [[ 8.69096142e-01 4.87798234e-01 -8.20047466e-02 1.28817857e+02] [-4.85433110e-01 8.72954287e-01 4.80157143e-02 -5.19493347e+01] [ 9.50083758e-02 -1.92245291e-03 9.95474617e-01 -3.67722938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:-51.96, Z:-3.68 [[ 8.69922258e-01 4.86365810e-01 -8.17530614e-02 1.28847553e+02] [-4.84006224e-01 8.73752768e-01 4.78965084e-02 -5.19648555e+01] [ 9.47271878e-02 -2.09724822e-03 9.95501060e-01 -3.67689214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:-51.98, Z:-3.67 [[ 8.69202981e-01 4.87488058e-01 -8.27137938e-02 1.28874095e+02] [-4.85074672e-01 8.73127306e-01 4.84898995e-02 -5.19832568e+01] [ 9.58579188e-02 -2.02519877e-03 9.95392967e-01 -3.67093303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.90, Y:-52.00, Z:-3.67 [[ 8.69309354e-01 4.87475447e-01 -8.16635527e-02 1.28901559e+02] [-4.85120302e-01 8.73134345e-01 4.79031080e-02 -5.19996852e+01] [ 9.46548416e-02 -2.02597246e-03 9.95508090e-01 -3.66939047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:-52.02, Z:-3.66 [[ 8.68882927e-01 4.88133871e-01 -8.22665397e-02 1.28929700e+02] [-4.85744827e-01 8.72766510e-01 4.82761020e-02 -5.20172427e+01] [ 9.53646813e-02 -1.98573475e-03 9.95440422e-01 -3.66496942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.96, Y:-52.04, Z:-3.66 [[ 8.67809159e-01 4.90155111e-01 -8.15795962e-02 1.28956526e+02] [-4.87812055e-01 8.71633421e-01 4.79017603e-02 -5.20368575e+01] [ 9.45867951e-02 -1.77407586e-03 9.95515038e-01 -3.66044053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:-52.05, Z:-3.66 [[ 8.67474390e-01 4.90725588e-01 -8.17103413e-02 1.28984265e+02] [-4.88374753e-01 8.71312441e-01 4.80076177e-02 -5.20540128e+01] [ 9.47538033e-02 -1.74011114e-03 9.95499216e-01 -3.65721891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.793617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.01, Y:-52.07, Z:-3.65 [[ 8.67077633e-01 4.91438670e-01 -8.16358538e-02 1.29011561e+02] [-4.89092482e-01 8.70910552e-01 4.79932670e-02 -5.20708618e+01] [ 9.46832737e-02 -1.68640594e-03 9.95506019e-01 -3.65453563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.04, Y:-52.09, Z:-3.65 [[ 8.65855347e-01 4.93498297e-01 -8.21824108e-02 1.29038607e+02] [-4.91127142e-01 8.69745477e-01 4.83418538e-02 -5.20879545e+01] [ 9.53344026e-02 -1.49504002e-03 9.95444181e-01 -3.65103965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.07, Y:-52.11, Z:-3.65 [[ 8.65099881e-01 4.94745535e-01 -8.26380753e-02 1.29067069e+02] [-4.92351805e-01 8.69036793e-01 4.86287301e-02 -5.21051099e+01] [ 9.58743749e-02 -1.38170312e-03 9.95392483e-01 -3.64798377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.10, Y:-52.12, Z:-3.65 [[ 8.65358726e-01 4.94189055e-01 -8.32553524e-02 1.29096323e+02] [-4.91753947e-01 8.69353201e-01 4.90210866e-02 -5.21204258e+01] [ 9.66039916e-02 -1.47967682e-03 9.95321797e-01 -3.64641585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.12, Y:-52.14, Z:-3.64 [[ 8.63223977e-01 4.97685739e-01 -8.45770085e-02 1.29123025e+02] [-4.95186014e-01 8.67356684e-01 4.98316535e-02 -5.21383858e+01] [ 9.81589370e-02 -1.13452635e-03 9.95170104e-01 -3.64231638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.15, Y:-52.15, Z:-3.64 [[ 8.63768211e-01 4.96866862e-01 -8.38319707e-02 1.29151152e+02] [-4.94447428e-01 8.67826357e-01 4.89811775e-02 -5.21523689e+01] [ 9.70887177e-02 -8.57881786e-04 9.95275361e-01 -3.64284045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:-52.17, Z:-3.64 [[ 8.61652264e-01 5.00219112e-01 -8.56517104e-02 1.29178215e+02] [-4.97664624e-01 8.65898411e-01 5.04961828e-02 -5.21713007e+01] [ 9.94248357e-02 -8.84323994e-04 9.95044682e-01 -3.63666031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:-52.19, Z:-3.64 [[ 8.62388689e-01 4.99174251e-01 -8.43256603e-02 1.29205237e+02] [-4.96539428e-01 8.66498446e-01 5.12741510e-02 -5.21857708e+01] [ 9.86627896e-02 -2.34723268e-03 9.95118156e-01 -3.63596185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:-52.20, Z:-3.63 [[ 8.61720332e-01 4.99898141e-01 -8.68326993e-02 1.29235078e+02] [-4.97468992e-01 8.66083857e-01 4.92275912e-02 -5.22025680e+01] [ 9.98131804e-02 7.76159079e-04 9.95005893e-01 -3.63203979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.26, Y:-52.22, Z:-3.63 [[ 8.62225977e-01 4.99548566e-01 -8.37710895e-02 1.29262051e+02] [-4.97313332e-01 8.66285360e-01 4.72136133e-02 -5.22176613e+01] [ 9.61551612e-02 9.51675805e-04 9.95365902e-01 -3.63187968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.29, Y:-52.24, Z:-3.63 [[ 8.62041938e-01 5.00154893e-01 -8.20291463e-02 1.29288708e+02] [-4.97702459e-01 8.65933986e-01 4.95034768e-02 -5.22360372e+01] [ 9.57912317e-02 -1.84796522e-03 9.95399731e-01 -3.62701188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:-52.25, Z:-3.62 [[ 8.61365387e-01 5.01094688e-01 -8.33893464e-02 1.29315293e+02] [-4.98617334e-01 8.65391483e-01 4.97828831e-02 -5.22527914e+01] [ 9.71103684e-02 -1.30187875e-03 9.95272767e-01 -3.62060724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.34, Y:-52.27, Z:-3.62 [[ 8.61625964e-01 5.00703542e-01 -8.30461360e-02 1.29342554e+02] [-4.98289915e-01 8.65618326e-01 4.91128669e-02 -5.22688247e+01] [ 9.64772437e-02 -9.35869227e-04 9.95334751e-01 -3.61750232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.37, Y:-52.28, Z:-3.62 [[ 8.62776949e-01 4.98974619e-01 -8.14878276e-02 1.29370294e+02] [-4.96671522e-01 8.66616183e-01 4.78935248e-02 -5.22842613e+01] [ 9.45163234e-02 -8.48745880e-04 9.95522950e-01 -3.61744023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.40, Y:-52.30, Z:-3.62 [[ 8.63111628e-01 4.98046007e-01 -8.35971989e-02 1.29400563e+02] [-4.96345965e-01 8.67132071e-01 4.15048776e-02 -5.22977409e+01] [ 9.31611507e-02 5.66978988e-03 9.95634900e-01 -3.61896426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:-52.32, Z:-3.61 [[ 8.62349621e-01 5.00037249e-01 -7.94725129e-02 1.29422936e+02] [-4.97061057e-01 8.65967178e-01 5.50559038e-02 -5.23209245e+01] [ 9.63505904e-02 -7.97474652e-03 9.95315511e-01 -3.60516807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.45, Y:-52.33, Z:-3.60 [[ 8.62722096e-01 4.98707231e-01 -8.36760649e-02 1.29453221e+02] [-4.96238244e-01 8.66769598e-01 4.95789088e-02 -5.23335959e+01] [ 9.72532294e-02 -1.24955656e-03 9.95258885e-01 -3.60498825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:-52.35, Z:-3.60 [[ 8.62758059e-01 4.98548218e-01 -8.42508508e-02 1.29481327e+02] [-4.96042369e-01 8.66861004e-01 4.99396393e-02 -5.23497309e+01] [ 9.79310953e-02 -1.29383461e-03 9.95192357e-01 -3.60191169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.51, Y:-52.36, Z:-3.60 [[ 8.63189909e-01 4.97711338e-01 -8.47738444e-02 1.29508749e+02] [-4.95167084e-01 8.67341567e-01 5.02808503e-02 -5.23649642e+01] [ 9.85532284e-02 -1.42470525e-03 9.95130761e-01 -3.59920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:-52.38, Z:-3.60 [[ 8.63498461e-01 4.97172391e-01 -8.47939987e-02 1.29537278e+02] [-4.94621425e-01 8.67650464e-01 5.03221480e-02 -5.23815907e+01] [ 9.85903349e-02 -1.51216883e-03 9.95126956e-01 -3.59649458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:-52.40, Z:-3.59 [[ 8.63836050e-01 4.96567809e-01 -8.48981105e-02 1.29565112e+02] [-4.94004554e-01 8.67996439e-01 5.04151052e-02 -5.23980237e+01] [ 9.87257759e-02 -1.61033212e-03 9.95113374e-01 -3.59328671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.59, Y:-52.41, Z:-3.59 [[ 8.64130229e-01 4.96024282e-01 -8.50814910e-02 1.29593298e+02] [-4.93444138e-01 8.68306979e-01 5.05556449e-02 -5.24145446e+01] [ 9.89536799e-02 -1.70369797e-03 9.95090582e-01 -3.59033590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:-52.43, Z:-3.59 [[ 8.64678416e-01 4.95101566e-01 -8.48862605e-02 1.29622109e+02] [-4.92525724e-01 8.68833172e-01 5.04710778e-02 -5.24308402e+01] [ 9.87403087e-02 -1.83258467e-03 9.95111548e-01 -3.58843368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.65, Y:-52.45, Z:-3.59 [[ 8.64722022e-01 4.94928697e-01 -8.54482844e-02 1.29650411e+02] [-4.92314497e-01 8.68931529e-01 5.08373221e-02 -5.24477567e+01] [ 9.94095580e-02 -1.89272279e-03 9.95044802e-01 -3.58507071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.68, Y:-52.46, Z:-3.58 [[ 8.65167476e-01 4.94410909e-01 -8.39231274e-02 1.29678735e+02] [-4.91883855e-01 8.69226133e-01 4.99620211e-02 -5.24634684e+01] [ 9.76499437e-02 -1.94508431e-03 9.95218923e-01 -3.58355235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:129.71, Y:-52.48, Z:-3.58 [[ 8.64883249e-01 4.94882416e-01 -8.40735329e-02 1.29705575e+02] [-4.92345491e-01 8.68957824e-01 5.00821090e-02 -5.24792153e+01] [ 9.78411093e-02 -1.92195240e-03 9.95200193e-01 -3.57777248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-52.49, Z:-3.58 [[ 8.65952540e-01 4.92385599e-01 -8.76505546e-02 1.29737043e+02] [-4.90248773e-01 8.70371311e-01 4.59338777e-02 -5.24941922e+01] [ 9.89057080e-02 3.19401871e-03 9.95091684e-01 -3.57659355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.76, Y:-52.51, Z:-3.57 [[ 8.65095012e-01 4.95185820e-01 -8.00101477e-02 1.29758526e+02] [-4.92196677e-01 8.68748932e-01 5.49338133e-02 -5.25137468e+01] [ 9.67111758e-02 -8.14223908e-03 9.95279183e-01 -3.56934893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.79, Y:-52.53, Z:-3.57 [[ 8.63642602e-01 4.97283958e-01 -8.26445430e-02 1.29788743e+02] [-4.94836846e-01 8.67586209e-01 4.93017790e-02 -5.25275477e+01] [ 9.62182495e-02 -1.68355174e-03 9.95358837e-01 -3.56865992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66361786499996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:129.83, Y:-52.53, Z:-3.59 [[ 8.65959344e-01 4.91496907e-01 -9.24402800e-02 1.29827855e+02] [-4.91634939e-01 8.70501386e-01 2.28565875e-02 -5.25296154e+01] [ 9.17033340e-02 2.56539959e-02 9.95455861e-01 -3.58551603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-52.57, Z:-3.55 [[ 8.64520350e-01 4.97827332e-01 -6.90833704e-02 1.29835615e+02] [-4.93238047e-01 8.66770997e-01 7.36496223e-02 -5.25705515e+01] [ 9.65442569e-02 -2.95970505e-02 9.94888547e-01 -3.55193479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72361786499997 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:129.86, Y:-52.58, Z:-3.56 [[ 8.61795558e-01 5.02139685e-01 -7.18620427e-02 1.29859416e+02] [-4.98538426e-01 8.64594043e-01 6.27421627e-02 -5.25793054e+01] [ 9.36368239e-02 -1.82449274e-02 9.95439234e-01 -3.55577348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:129.90, Y:-52.58, Z:-3.56 [[ 8.63479015e-01 4.95679747e-01 -9.33036962e-02 1.29904004e+02] [-4.94854682e-01 8.68332798e-01 3.34214893e-02 -5.25798924e+01] [ 9.75850150e-02 1.73130162e-02 9.95076592e-01 -3.56400346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:129.93, Y:-52.60, Z:-3.56 [[ 8.62870883e-01 4.97736989e-01 -8.78164505e-02 1.29927288e+02] [-4.95652762e-01 8.67318305e-01 4.56869396e-02 -5.26016139e+01] [ 9.89048948e-02 4.10453636e-03 9.95088426e-01 -3.55666337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.96, Y:-52.61, Z:-3.57 [[ 8.62744401e-01 4.97300058e-01 -9.14590134e-02 1.29961328e+02] [-4.96488926e-01 8.67413963e-01 3.30418322e-02 -5.26131361e+01] [ 9.57645304e-02 1.69017315e-02 9.95260512e-01 -3.56512481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84361786499997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:129.98, Y:-52.64, Z:-3.55 [[ 8.61920821e-01 4.99973661e-01 -8.43731954e-02 1.29980088e+02] [-4.96917116e-01 8.66020343e-01 5.55170755e-02 -5.26384068e+01] [ 1.00825979e-01 -5.92483841e-03 9.94886435e-01 -3.54710711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:130.01, Y:-52.66, Z:-3.54 [[ 8.61799161e-01 5.00984369e-01 -7.94787304e-02 1.30005797e+02] [-4.97539044e-01 8.65372280e-01 5.98808583e-02 -5.26572549e+01] [ 9.87780641e-02 -1.20615019e-02 9.95036388e-01 -3.54181360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.04, Y:-52.67, Z:-3.54 [[ 8.60898784e-01 5.00976140e-01 -8.87479082e-02 1.30038128e+02] [-4.98670673e-01 8.65456389e-01 4.80915626e-02 -5.26663012e+01] [ 1.00900170e-01 2.85401132e-03 9.94892462e-01 -3.54350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.06, Y:-52.68, Z:-3.54 [[ 8.60442300e-01 5.02119011e-01 -8.66922514e-02 1.30063238e+02] [-4.99454837e-01 8.64797753e-01 5.16692497e-02 -5.26836127e+01] [ 1.00915377e-01 -1.15954375e-03 9.94894337e-01 -3.53914643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.09, Y:-52.70, Z:-3.54 [[ 8.60494792e-01 5.01780988e-01 -8.81167031e-02 1.30092537e+02] [-4.99241794e-01 8.64994493e-01 5.04198182e-02 -5.26995415e+01] [ 1.01520169e-01 6.05549882e-04 9.94833297e-01 -3.53587686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:-52.72, Z:-3.53 [[ 8.60081242e-01 5.04744561e-01 -7.41160245e-02 1.30113622e+02] [-5.00998127e-01 8.63084187e-01 6.39262267e-02 -5.27232814e+01] [ 9.62347840e-02 -1.78497590e-02 9.95198600e-01 -3.52563644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-52.73, Z:-3.53 [[ 8.59693278e-01 5.04113805e-01 -8.24423354e-02 1.30146149e+02] [-5.01690587e-01 8.63636543e-01 4.93809281e-02 -5.27320168e+01] [ 9.60938212e-02 -1.09190834e-03 9.95371682e-01 -3.52871648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-52.75, Z:-3.53 [[ 8.59639753e-01 5.04207073e-01 -8.24301062e-02 1.30174677e+02] [-5.01782326e-01 8.63582078e-01 4.94013339e-02 -5.27492495e+01] [ 9.60936644e-02 -1.10538001e-03 9.95371682e-01 -3.52566015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.21, Y:-52.76, Z:-3.53 [[ 8.58940763e-01 5.03065955e-01 -9.56316387e-02 1.30209606e+02] [-5.02074222e-01 8.64077809e-01 3.59307075e-02 -5.27580669e+01] [ 1.00708692e-01 1.71518313e-02 9.94768101e-01 -3.52931197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.23, Y:-52.78, Z:-3.52 [[ 8.58050767e-01 5.06621817e-01 -8.41618419e-02 1.30229251e+02] [-5.03694997e-01 8.62157053e-01 5.45579164e-02 -5.27835519e+01] [ 1.00200956e-01 -4.42156335e-03 9.94957395e-01 -3.51843864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.26, Y:-52.80, Z:-3.52 [[ 8.59249388e-01 5.05434438e-01 -7.89082913e-02 1.30260027e+02] [-5.02965288e-01 8.62858778e-01 5.00064750e-02 -5.27972270e+01] [ 9.33617064e-02 -3.27990152e-03 9.95626855e-01 -3.52334979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17361786499998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:130.29, Y:-52.81, Z:-3.53 [[ 8.58733950e-01 5.05056004e-01 -8.65704127e-02 1.30293962e+02] [-5.04204306e-01 8.62951582e-01 3.30542776e-02 -5.28059404e+01] [ 9.14003359e-02 1.52643445e-02 9.95697232e-01 -3.52980490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.31, Y:-52.84, Z:-3.50 [[ 8.57085591e-01 5.10530392e-01 -6.90145543e-02 1.30306014e+02] [-5.06024134e-01 8.59410718e-01 7.31627944e-02 -5.28415899e+01] [ 9.66636778e-02 -2.77837469e-02 9.94929242e-01 -3.50110575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.33, Y:-52.85, Z:-3.51 [[ 8.55113164e-01 5.12266797e-01 -7.97759673e-02 1.30333630e+02] [-5.09378018e-01 8.58804620e-01 5.46686314e-02 -5.28453263e+01] [ 9.65168940e-02 -6.11174223e-03 9.95312582e-01 -3.50731949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-52.86, Z:-3.51 [[ 8.56267945e-01 5.09273570e-01 -8.62880993e-02 1.30369619e+02] [-5.07468828e-01 8.60578861e-01 4.33521914e-02 -5.28579954e+01] [ 9.63358395e-02 6.66742880e-03 9.95326555e-01 -3.50787536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:-52.88, Z:-3.50 [[ 8.56043406e-01 5.10232782e-01 -8.27779844e-02 1.30395525e+02] [-5.07795144e-01 8.60036123e-01 4.98192729e-02 -5.28771533e+01] [ 9.66114830e-02 -6.13201559e-04 9.95321981e-01 -3.50233729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-52.89, Z:-3.50 [[ 8.55962967e-01 5.10297652e-01 -8.32088081e-02 1.30423365e+02] [-5.07831719e-01 8.59997617e-01 5.01103255e-02 -5.28934361e+01] [ 9.71305582e-02 -6.36510843e-04 9.95271445e-01 -3.49900162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.45, Y:-52.91, Z:-3.50 [[ 8.56517315e-01 5.09465120e-01 -8.26037605e-02 1.30452207e+02] [-5.07028307e-01 8.60490981e-01 4.97751761e-02 -5.29096820e+01] [ 9.64385069e-02 -7.50855348e-04 9.95338661e-01 -3.49887948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:-52.93, Z:-3.49 [[ 8.56030708e-01 5.10237311e-01 -8.28813196e-02 1.30479039e+02] [-5.07784567e-01 8.60033374e-01 4.99742795e-02 -5.29262312e+01] [ 9.67794430e-02 -6.93662906e-04 9.95305610e-01 -3.49309381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.51, Y:-52.94, Z:-3.49 [[ 8.56352471e-01 5.09637939e-01 -8.32443167e-02 1.30507303e+02] [-5.07157900e-01 8.60388602e-01 5.02226897e-02 -5.29438838e+01] [ 9.72178493e-02 -7.90311567e-04 9.95262812e-01 -3.49097196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.54, Y:-52.96, Z:-3.49 [[ 8.56913883e-01 5.08885437e-01 -8.20622307e-02 1.30535244e+02] [-5.06469932e-01 8.60833802e-01 4.95315459e-02 -5.29597226e+01] [ 9.58478244e-02 -8.82216973e-04 9.95395608e-01 -3.48692725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.56, Y:-52.98, Z:-3.48 [[ 8.57641503e-01 5.07454581e-01 -8.33120741e-02 1.30563205e+02] [-5.04955903e-01 8.61677834e-01 5.03075288e-02 -5.29771933e+01] [ 9.73169534e-02 -1.07690098e-03 9.95252858e-01 -3.48327165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:-52.99, Z:-3.48 [[ 8.57994037e-01 5.07117956e-01 -8.17166583e-02 1.30591192e+02] [-5.04709780e-01 8.61875933e-01 4.93752431e-02 -5.29932252e+01] [ 9.54686935e-02 -1.12046749e-03 9.95431802e-01 -3.47994699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.62, Y:-53.01, Z:-3.48 [[ 8.59106596e-01 5.05316603e-01 -8.11848913e-02 1.30618766e+02] [-5.02928924e-01 8.62932988e-01 4.90831495e-02 -5.30085800e+01] [ 9.48596512e-02 -1.33742745e-03 9.95489758e-01 -3.47735147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.65, Y:-53.02, Z:-3.47 [[ 8.59622717e-01 5.04420330e-01 -8.12952337e-02 1.30646872e+02] [-5.02019459e-01 8.63457000e-01 4.91779513e-02 -5.30248858e+01] [ 9.50012971e-02 -1.46269479e-03 9.95476074e-01 -3.47423754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:-53.04, Z:-3.47 [[ 8.60260067e-01 5.03358946e-01 -8.11319244e-02 1.30675124e+02] [-5.00960187e-01 8.64075924e-01 4.91089345e-02 -5.30409089e+01] [ 9.48235641e-02 -1.60259124e-03 9.95492804e-01 -3.47139056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.70, Y:-53.06, Z:-3.47 [[ 8.61841538e-01 5.00673148e-01 -8.09664304e-02 1.30703116e+02] [-4.98269520e-01 8.65634283e-01 4.90384883e-02 -5.30561556e+01] [ 9.46395722e-02 -1.92030171e-03 9.95509751e-01 -3.46852252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-53.07, Z:-3.47 [[ 8.62643314e-01 4.99335155e-01 -8.06902485e-02 1.30730949e+02] [-4.96940314e-01 8.66406424e-01 4.88900073e-02 -5.30729546e+01] [ 9.43230490e-02 -2.07640052e-03 9.95539477e-01 -3.46516854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:-53.09, Z:-3.46 [[ 8.63949433e-01 4.97100585e-01 -8.05132632e-02 1.30758453e+02] [-4.94703794e-01 8.67689765e-01 4.88121741e-02 -5.30885332e+01] [ 9.41250947e-02 -2.34103345e-03 9.95557626e-01 -3.46189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:-53.10, Z:-3.46 [[ 8.64367830e-01 4.96362231e-01 -8.05778538e-02 1.30786909e+02] [-4.93955776e-01 8.68112058e-01 4.88788860e-02 -5.31046480e+01] [ 9.42122394e-02 -2.44744034e-03 9.95549127e-01 -3.45910391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.82, Y:-53.12, Z:-3.46 [[ 8.64721749e-01 4.95750158e-01 -8.05486108e-02 1.30815666e+02] [-4.93340077e-01 8.68461478e-01 4.88899809e-02 -5.31207519e+01] [ 9.41905813e-02 -2.53837189e-03 9.95550949e-01 -3.45648893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-53.14, Z:-3.45 [[ 8.64958395e-01 4.95318615e-01 -8.06625313e-02 1.30843801e+02] [-4.92896934e-01 8.68707447e-01 4.89896353e-02 -5.31365172e+01] [ 9.43376199e-02 -2.61568189e-03 9.95536826e-01 -3.45409382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-53.15, Z:-3.45 [[ 8.65424161e-01 4.94441696e-01 -8.10458550e-02 1.30871479e+02] [-4.91990328e-01 8.69206449e-01 4.92510535e-02 -5.31519205e+01] [ 9.47973543e-02 -2.74927483e-03 9.95492794e-01 -3.45107066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:-53.17, Z:-3.45 [[ 8.65485228e-01 4.94308144e-01 -8.12082396e-02 1.30899047e+02] [-4.91843697e-01 8.69282264e-01 4.93773547e-02 -5.31684007e+01] [ 9.50005109e-02 -2.79361028e-03 9.95473304e-01 -3.44778207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.93, Y:-53.18, Z:-3.44 [[ 8.65632035e-01 4.94067330e-01 -8.11088956e-02 1.30927139e+02] [-4.91605265e-01 8.69419004e-01 4.93442797e-02 -5.31848988e+01] [ 9.48970118e-02 -2.84042916e-03 9.95483043e-01 -3.44407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:-53.20, Z:-3.44 [[ 8.65717625e-01 4.93955970e-01 -8.08733209e-02 1.30955299e+02] [-4.91505021e-01 8.69482183e-01 4.92295337e-02 -5.32003354e+01] [ 9.46351337e-02 -2.86923167e-03 9.95507890e-01 -3.44064517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-53.21, Z:-3.44 [[ 8.64961851e-01 4.94701433e-01 -8.43296446e-02 1.30979508e+02] [-4.92236572e-01 8.69062218e-01 4.93357778e-02 -5.32101577e+01] [ 9.76941879e-02 -1.16343054e-03 9.95215802e-01 -3.44177247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-53.23, Z:-3.44 [[ 8.64723826e-01 4.95260246e-01 -8.34864833e-02 1.31010302e+02] [-4.92591628e-01 8.68738130e-01 5.14543463e-02 -5.32289913e+01] [ 9.80111836e-02 -3.36905644e-03 9.95179611e-01 -3.43522573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-53.24, Z:-3.43 [[ 8.63543541e-01 4.97299658e-01 -8.35799231e-02 1.31039447e+02] [-4.94660171e-01 8.67573948e-01 5.12519245e-02 -5.32428692e+01] [ 9.79993284e-02 -2.91460926e-03 9.95182213e-01 -3.43336773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:-53.26, Z:-3.43 [[ 8.63573262e-01 4.97117222e-01 -8.43545410e-02 1.31067741e+02] [-4.94424386e-01 8.67678237e-01 5.17590960e-02 -5.32588359e+01] [ 9.89229374e-02 -2.99082923e-03 9.95090603e-01 -3.42938513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-53.28, Z:-3.43 [[ 8.62388718e-01 4.99585060e-01 -8.18563755e-02 1.31093843e+02] [-4.97057881e-01 8.66260773e-01 5.02566973e-02 -5.32763435e+01] [ 9.60164623e-02 -2.65345216e-03 9.95376209e-01 -3.42573044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-53.29, Z:-3.43 [[ 8.63067852e-01 4.98368185e-01 -8.21159888e-02 1.31124031e+02] [-4.95817453e-01 8.66960913e-01 5.04363771e-02 -5.32902817e+01] [ 9.63272384e-02 -2.81547516e-03 9.95345737e-01 -3.42503949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:-53.31, Z:-3.42 [[ 8.61882682e-01 5.00322338e-01 -8.26789045e-02 1.31153393e+02] [-4.97742260e-01 8.65835188e-01 5.08140660e-02 -5.33050071e+01] [ 9.70097172e-02 -2.64297873e-03 9.95279925e-01 -3.42065753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-53.32, Z:-3.42 [[ 8.61487536e-01 5.00988684e-01 -8.27620941e-02 1.31182712e+02] [-4.98404238e-01 8.65449957e-01 5.08879835e-02 -5.33202913e+01] [ 9.71207547e-02 -2.59038506e-03 9.95269234e-01 -3.41736404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:-53.33, Z:-3.42 [[ 8.60486505e-01 5.02402553e-01 -8.45851629e-02 1.31210301e+02] [-4.99881845e-01 8.64633287e-01 5.02734648e-02 -5.33327275e+01] [ 9.83926644e-02 -9.77050740e-04 9.95147190e-01 -3.41583551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:-53.35, Z:-3.41 [[ 8.60585475e-01 5.03000278e-01 -7.98959332e-02 1.31237159e+02] [-5.00431241e-01 8.64277735e-01 5.09172859e-02 -5.33490508e+01] [ 9.46636852e-02 -3.83625575e-03 9.95501919e-01 -3.41342011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:-53.36, Z:-3.41 [[ 8.59920019e-01 5.03945788e-01 -8.10937940e-02 1.31264892e+02] [-5.01449885e-01 8.63731770e-01 5.01541828e-02 -5.33642935e+01] [ 9.53182755e-02 -2.46411211e-03 9.95443798e-01 -3.41027911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:-53.38, Z:-3.40 [[ 8.58705453e-01 5.05773957e-01 -8.25690548e-02 1.31292932e+02] [-5.03390402e-01 8.62665867e-01 4.90479938e-02 -5.33812073e+01] [ 9.60367031e-02 -5.53310109e-04 9.95377640e-01 -3.40422679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:-53.40, Z:-3.40 [[ 8.58287498e-01 5.06566226e-01 -8.20562540e-02 1.31321110e+02] [-5.04039020e-01 8.62198614e-01 5.05788168e-02 -5.33955120e+01] [ 9.63703088e-02 -2.05161219e-03 9.95343435e-01 -3.40086275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:-53.41, Z:-3.40 [[ 8.58634415e-01 5.05845438e-01 -8.28693828e-02 1.31350708e+02] [-5.03261474e-01 8.62621377e-01 5.11101536e-02 -5.34105857e+01] [ 9.73387392e-02 -2.17996907e-03 9.95248922e-01 -3.39995616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-53.42, Z:-3.40 [[ 8.57457695e-01 5.06367465e-01 -9.14236938e-02 1.31382004e+02] [-5.04719077e-01 8.62258822e-01 4.20520904e-02 -5.34211379e+01] [ 1.00124697e-01 1.00853938e-02 9.94923781e-01 -3.39796709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-53.45, Z:-3.39 [[ 8.57927448e-01 5.07945150e-01 -7.71506233e-02 1.31403401e+02] [-5.04412544e-01 8.61280088e-01 6.13562936e-02 -5.34467645e+01] [ 9.76139274e-02 -1.37235062e-02 9.95129734e-01 -3.38923598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:-53.46, Z:-3.39 [[ 8.57195678e-01 5.08338170e-01 -8.25098460e-02 1.31434237e+02] [-5.05780826e-01 8.61155322e-01 5.09633977e-02 -5.34569531e+01] [ 9.69604333e-02 -1.95370611e-03 9.95286319e-01 -3.38656871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:-53.47, Z:-3.39 [[ 8.57343323e-01 5.08170247e-01 -8.20087026e-02 1.31464186e+02] [-5.05641133e-01 8.61254367e-01 5.06750437e-02 -5.34720955e+01] [ 9.63819027e-02 -1.97893707e-03 9.95342460e-01 -3.38522850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:-53.49, Z:-3.38 [[ 8.56751162e-01 5.09041670e-01 -8.27890319e-02 1.31491754e+02] [-5.06464884e-01 8.60739718e-01 5.11904224e-02 -5.34868097e+01] [ 9.73178660e-02 -1.92771647e-03 9.95251484e-01 -3.37970735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:-53.50, Z:-3.38 [[ 8.56548000e-01 5.09457165e-01 -8.23341942e-02 1.31520583e+02] [-5.06907641e-01 8.60493928e-01 5.09396003e-02 -5.35031049e+01] [ 9.67996186e-02 -1.89638062e-03 9.95302084e-01 -3.37674346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-53.52, Z:-3.37 [[ 8.56428597e-01 5.09738251e-01 -8.18350426e-02 1.31548236e+02] [-5.07217699e-01 8.60327481e-01 5.06639003e-02 -5.35195973e+01] [ 9.62302640e-02 -1.88183104e-03 9.95357320e-01 -3.37409598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-53.54, Z:-3.37 [[ 8.56365422e-01 5.09846570e-01 -8.18213902e-02 1.31576518e+02] [-5.07324407e-01 8.60263263e-01 5.06859394e-02 -5.35372223e+01] [ 9.62299884e-02 -1.89569762e-03 9.95357321e-01 -3.37097261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:-53.55, Z:-3.37 [[ 8.56512983e-01 5.09737414e-01 -8.09523281e-02 1.31605321e+02] [-5.07401786e-01 8.60329769e-01 4.87454148e-02 -5.35519945e+01] [ 9.44930594e-02 -6.75724721e-04 9.95525291e-01 -3.36983201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-53.56, Z:-3.37 [[ 8.55802298e-01 5.10206480e-01 -8.53918865e-02 1.31634445e+02] [-5.08456932e-01 8.60024897e-01 4.27636008e-02 -5.35618148e+01] [ 9.52574146e-02 6.82090878e-03 9.95429304e-01 -3.37111563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:-53.59, Z:-3.36 [[ 8.55165477e-01 5.12571884e-01 -7.72144487e-02 1.31659171e+02] [-5.09599824e-01 8.58604005e-01 5.57421030e-02 -5.35859918e+01] [ 9.48684696e-02 -8.32025260e-03 9.95455045e-01 -3.36126577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:-53.60, Z:-3.36 [[ 8.54863323e-01 5.12404715e-01 -8.15481908e-02 1.31690409e+02] [-5.10244850e-01 8.58742922e-01 4.70189931e-02 -5.35975829e+01] [ 9.41216855e-02 1.41473175e-03 9.95559695e-01 -3.36197053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:-53.62, Z:-3.35 [[ 8.52296350e-01 5.16821228e-01 -8.05403632e-02 1.31714628e+02] [-5.13884167e-01 8.56073958e-01 5.53212606e-02 -5.36188759e+01] [ 9.75397093e-02 -5.76169099e-03 9.95214956e-01 -3.35074851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.74, Y:-53.63, Z:-3.35 [[ 8.51567304e-01 5.17493921e-01 -8.38639868e-02 1.31743157e+02] [-5.14860150e-01 8.55685987e-01 5.21585853e-02 -5.36329452e+01] [ 9.87529892e-02 -1.23832109e-03 9.95111207e-01 -3.34912486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:-53.64, Z:-3.36 [[ 8.52984002e-01 5.14518922e-01 -8.76844962e-02 1.31775793e+02] [-5.13145935e-01 8.57402051e-01 3.92806753e-02 -5.36396912e+01] [ 9.53915176e-02 1.14891552e-02 9.95373527e-01 -3.35838558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:-53.67, Z:-3.34 [[ 8.50983351e-01 5.19240570e-01 -7.88452130e-02 1.31796038e+02] [-5.15497286e-01 8.54520546e-01 6.36960336e-02 -5.36698580e+01] [ 1.00448419e-01 -1.35597708e-02 9.94849862e-01 -3.34007116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:-53.68, Z:-3.35 [[ 8.50658443e-01 5.18686752e-01 -8.56986945e-02 1.31828178e+02] [-5.16484540e-01 8.54957048e-01 4.78765748e-02 -5.36766807e+01] [ 9.81016479e-02 3.53543820e-03 9.95170120e-01 -3.34582281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-53.69, Z:-3.35 [[ 8.50020592e-01 5.19687137e-01 -8.59666975e-02 1.31857053e+02] [-5.17935819e-01 8.54321919e-01 4.33191152e-02 -5.36903471e+01] [ 9.59556210e-02 7.70309190e-03 9.95355806e-01 -3.34571974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-53.71, Z:-3.34 [[ 8.48806589e-01 5.21992365e-01 -8.39722967e-02 1.31882785e+02] [-5.19381186e-01 8.52949909e-01 5.21501369e-02 -5.37125673e+01] [ 9.88461361e-02 -6.51748701e-04 9.95102516e-01 -3.33773726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:-53.74, Z:-3.32 [[ 8.47555635e-01 5.24995204e-01 -7.76497285e-02 1.31904721e+02] [-5.21336647e-01 8.51003983e-01 6.32480937e-02 -5.37352272e+01] [ 9.92851741e-02 -1.31246292e-02 9.94972461e-01 -3.32477576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:-53.74, Z:-3.33 [[ 8.47521906e-01 5.22292573e-01 -9.44303306e-02 1.31942494e+02] [-5.20904463e-01 8.52640770e-01 4.07707806e-02 -5.37393641e+01] [ 1.01809426e-01 1.46350510e-02 9.94696263e-01 -3.33475078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:-53.76, Z:-3.33 [[ 8.47429350e-01 5.23824727e-01 -8.64358285e-02 1.31966084e+02] [-5.21025895e-01 8.51825699e-01 5.40832244e-02 -5.37639162e+01] [ 1.01958390e-01 -7.96406732e-04 9.94788346e-01 -3.32705090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-53.79, Z:-3.32 [[ 8.46530241e-01 5.26734546e-01 -7.70536826e-02 1.31990167e+02] [-5.23058391e-01 8.49922385e-01 6.35756193e-02 -5.37861180e+01] [ 9.89771246e-02 -1.35151090e-02 9.94997925e-01 -3.31993803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-53.79, Z:-3.33 [[ 8.46466734e-01 5.25237562e-01 -8.72901600e-02 1.32025239e+02] [-5.23578132e-01 8.50902744e-01 4.27838853e-02 -5.37925998e+01] [ 9.67471403e-02 9.48808323e-03 9.95263768e-01 -3.32616812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:-53.82, Z:-3.32 [[ 8.45456218e-01 5.27892868e-01 -8.08263726e-02 1.32046939e+02] [-5.24900982e-01 8.49294867e-01 5.63665539e-02 -5.38167826e+01] [ 9.84009252e-02 -5.22961120e-03 9.95133111e-01 -3.31644203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-53.83, Z:-3.31 [[ 8.44428973e-01 5.29474681e-01 -8.12174374e-02 1.32071174e+02] [-5.26219228e-01 8.48295774e-01 5.90559390e-02 -5.38339495e+01] [ 1.00165033e-01 -7.13036874e-03 9.94945287e-01 -3.30630763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:-53.84, Z:-3.31 [[ 8.45027839e-01 5.27415352e-01 -8.80965238e-02 1.32104783e+02] [-5.25583448e-01 8.49565067e-01 4.47351741e-02 -5.38443633e+01] [ 9.84377468e-02 8.49960731e-03 9.95106912e-01 -3.31441815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:-53.87, Z:-3.31 [[ 8.44694459e-01 5.28803462e-01 -8.28140671e-02 1.32128478e+02] [-5.25929173e-01 8.48738918e-01 5.51430345e-02 -5.38675845e+01] [ 9.94473492e-02 -3.02468183e-03 9.95038228e-01 -3.30736016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:-53.88, Z:-3.30 [[ 8.43345658e-01 5.29511809e-01 -9.15715340e-02 1.32155608e+02] [-5.26693526e-01 8.48299762e-01 5.46025984e-02 -5.38844531e+01] [ 1.06592831e-01 2.18126986e-03 9.94300362e-01 -3.30212790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:-53.89, Z:-3.31 [[ 8.44075687e-01 5.27385749e-01 -9.69562035e-02 1.32183792e+02] [-5.25696699e-01 8.49517540e-01 4.43049728e-02 -5.38938654e+01] [ 1.05731807e-01 1.35728058e-02 9.94302049e-01 -3.30710757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:-53.92, Z:-3.29 [[ 8.44868819e-01 5.29910223e-01 -7.34291064e-02 1.32193886e+02] [-5.25217599e-01 8.47704397e-01 7.44562164e-02 -5.39236977e+01] [ 1.01701287e-01 -2.43394767e-02 9.94517188e-01 -3.28784924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-53.93, Z:-3.29 [[ 8.45175073e-01 5.27507278e-01 -8.61113698e-02 1.32228326e+02] [-5.24733579e-01 8.49550378e-01 5.40261589e-02 -5.39316877e+01] [ 1.01655139e-01 -4.76035541e-04 9.94819585e-01 -3.29161635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:-53.95, Z:-3.29 [[ 8.46058561e-01 5.26185963e-01 -8.55175042e-02 1.32254687e+02] [-5.23440542e-01 8.50369273e-01 5.36851761e-02 -5.39503415e+01] [ 1.00969844e-01 -6.57474122e-04 9.94889269e-01 -3.28755877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-53.97, Z:-3.29 [[ 8.46679782e-01 5.24647920e-01 -8.87575791e-02 1.32287079e+02] [-5.22994077e-01 8.51258855e-01 4.28433952e-02 -5.39653163e+01] [ 9.80333734e-02 1.01450517e-02 9.95131416e-01 -3.29401221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.30, Y:-53.99, Z:-3.28 [[ 8.46945860e-01 5.25811891e-01 -7.87690647e-02 1.32304246e+02] [-5.22166559e-01 8.50512911e-01 6.30069274e-02 -5.39905666e+01] [ 1.00123898e-01 -1.22328848e-02 9.94899775e-01 -3.27794186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:-54.00, Z:-3.28 [[ 8.47854403e-01 5.23401958e-01 -8.48133392e-02 1.32333324e+02] [-5.20680124e-01 8.52085263e-01 5.33189713e-02 -5.40042795e+01] [ 1.00175450e-01 -1.04610466e-03 9.94969238e-01 -3.27784644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:-54.02, Z:-3.28 [[ 8.48331559e-01 5.22698124e-01 -8.43814976e-02 1.32356000e+02] [-5.19997902e-01 8.52517072e-01 5.30737605e-02 -5.40197608e+01] [ 9.96782223e-02 -1.14594435e-03 9.95019065e-01 -3.27538255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:-54.04, Z:-3.27 [[ 8.48639915e-01 5.22275302e-01 -8.38975721e-02 1.32383344e+02] [-5.19604671e-01 8.52776119e-01 5.27624506e-02 -5.40381186e+01] [ 9.91023708e-02 -1.18275130e-03 9.95076540e-01 -3.27210288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:-54.06, Z:-3.27 [[ 8.49072560e-01 5.21603367e-01 -8.37001514e-02 1.32409259e+02] [-5.18938804e-01 8.53187127e-01 5.26711012e-02 -5.40567588e+01] [ 9.88853154e-02 -1.28633026e-03 9.95098005e-01 -3.26855404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:-54.07, Z:-3.27 [[ 8.48930975e-01 5.21861392e-01 -8.35277633e-02 1.32436561e+02] [-5.19206015e-01 8.53029337e-01 5.25933927e-02 -5.40748628e+01] [ 9.86980937e-02 -1.28004302e-03 9.95116600e-01 -3.26560955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-54.09, Z:-3.26 [[ 8.48675659e-01 5.22249647e-01 -8.36954681e-02 1.32463012e+02] [-5.19582186e-01 8.52791712e-01 5.27318510e-02 -5.40924427e+01] [ 9.89139921e-02 -1.26556418e-03 9.95095182e-01 -3.26242944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57361786499996 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:132.50, Y:-54.10, Z:-3.27 [[ 8.48198798e-01 5.21120413e-01 -9.48278136e-02 1.32495694e+02] [-5.20464555e-01 8.53226122e-01 3.34937512e-02 -5.41026042e+01] [ 9.83638451e-02 2.09451563e-02 9.94930075e-01 -3.27294161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:-54.13, Z:-3.25 [[ 8.48356320e-01 5.24422037e-01 -7.26159914e-02 1.32502928e+02] [-5.19857287e-01 8.51109870e-01 7.32146826e-02 -5.41343833e+01] [ 1.00199580e-01 -2.43621864e-02 9.94669055e-01 -3.24956991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-54.14, Z:-3.25 [[ 8.48186274e-01 5.22760201e-01 -8.54506681e-02 1.32536436e+02] [-5.19980684e-01 8.52478873e-01 5.38503475e-02 -5.41435576e+01] [ 1.00995708e-01 -1.24242878e-03 9.94886086e-01 -3.25273996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:-54.16, Z:-3.25 [[ 8.48291306e-01 5.22539223e-01 -8.57590827e-02 1.32562873e+02] [-5.19735103e-01 8.52614255e-01 5.40773098e-02 -5.41616838e+01] [ 1.01376932e-01 -1.30130612e-03 9.94847237e-01 -3.24937477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:-54.18, Z:-3.25 [[ 8.48618225e-01 5.22053715e-01 -8.54811465e-02 1.32589932e+02] [-5.19263162e-01 8.52911504e-01 5.39234245e-02 -5.41802552e+01] [ 1.01058777e-01 -1.37319043e-03 9.94879509e-01 -3.24595802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-54.20, Z:-3.24 [[ 8.49418115e-01 5.20760702e-01 -8.54233989e-02 1.32616255e+02] [-5.17964066e-01 8.53701280e-01 5.39198580e-02 -5.41998575e+01] [ 1.01005408e-01 -1.55425313e-03 9.94884663e-01 -3.24243431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:-54.22, Z:-3.24 [[ 8.49907214e-01 5.20100799e-01 -8.45747405e-02 1.32642546e+02] [-5.17353125e-01 8.54103306e-01 5.34161748e-02 -5.42176019e+01] [ 1.00017361e-01 -1.64378604e-03 9.94984334e-01 -3.23941158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.67, Y:-54.24, Z:-3.24 [[ 8.50266002e-01 5.19547754e-01 -8.43673973e-02 1.32669730e+02] [-5.16807833e-01 8.54439662e-01 5.33153568e-02 -5.42357597e+01] [ 9.97867244e-02 -1.73050344e-03 9.95007344e-01 -3.23614162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.70, Y:-54.25, Z:-3.23 [[ 8.51022450e-01 5.18392939e-01 -8.38424171e-02 1.32695940e+02] [-5.15678364e-01 8.55140469e-01 5.30151258e-02 -5.42545640e+01] [ 9.91797108e-02 -1.88134174e-03 9.95067759e-01 -3.23303068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:-54.28, Z:-3.23 [[ 8.50851874e-01 5.18722291e-01 -8.35360669e-02 1.32723435e+02] [-5.15698146e-01 8.54930013e-01 5.61257105e-02 -5.42777987e+01] [ 1.00531148e-01 -4.67527109e-03 9.94922927e-01 -3.23003417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:-54.29, Z:-3.23 [[ 8.51769290e-01 5.16979326e-01 -8.49791322e-02 1.32750039e+02] [-5.14408130e-01 8.55997870e-01 5.14968103e-02 -5.42905123e+01] [ 9.93647424e-02 -1.49445016e-04 9.95051067e-01 -3.22695166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:-54.31, Z:-3.22 [[ 8.51985972e-01 5.16797883e-01 -8.39038319e-02 1.32775387e+02] [-5.14067223e-01 8.56104849e-01 5.30978207e-02 -5.43113959e+01] [ 9.92713186e-02 -2.10638847e-03 9.95058173e-01 -3.22247423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:-54.33, Z:-3.22 [[ 8.51854057e-01 5.17050831e-01 -8.36845520e-02 1.32802467e+02] [-5.14332496e-01 8.55952120e-01 5.29910441e-02 -5.43297146e+01] [ 9.90290331e-02 -2.09895133e-03 9.95082331e-01 -3.21923321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.83, Y:-54.35, Z:-3.22 [[ 8.50902473e-01 5.18357493e-01 -8.52671766e-02 1.32830915e+02] [-5.15651152e-01 8.55163376e-01 5.29102076e-02 -5.43507055e+01] [ 1.00343769e-01 -1.05330870e-03 9.94952269e-01 -3.21811479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:-54.37, Z:-3.21 [[ 8.50781803e-01 5.18940033e-01 -8.28949076e-02 1.32855553e+02] [-5.16093758e-01 8.54803515e-01 5.43891825e-02 -5.43665587e+01] [ 9.90835826e-02 -3.49178240e-03 9.95072988e-01 -3.21232135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:-54.38, Z:-3.22 [[ 8.50884899e-01 5.18261828e-01 -8.60207290e-02 1.32887563e+02] [-5.16454609e-01 8.55192252e-01 4.38274801e-02 -5.43818038e+01] [ 9.62783709e-02 7.13366100e-03 9.95328883e-01 -3.21899188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:-54.40, Z:-3.22 [[ 8.51615568e-01 5.17414315e-01 -8.38650757e-02 1.32914152e+02] [-5.15821058e-01 8.55697296e-01 4.13615142e-02 -5.43970060e+01] [ 9.31641580e-02 8.03526263e-03 9.95618338e-01 -3.22043534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:-54.43, Z:-3.20 [[ 8.49433335e-01 5.22771065e-01 -7.19265085e-02 1.32927468e+02] [-5.18529254e-01 8.52183146e-01 7.00806581e-02 -5.44289245e+01] [ 9.79306985e-02 -2.22328484e-02 9.94944862e-01 -3.19633940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-54.44, Z:-3.20 [[ 8.49007291e-01 5.21863530e-01 -8.27349760e-02 1.32961125e+02] [-5.19218003e-01 8.53027451e-01 5.25055592e-02 -5.44390986e+01] [ 9.79759421e-02 -1.62011351e-03 9.95187465e-01 -3.19957134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-54.46, Z:-3.20 [[ 8.48683871e-01 5.22373174e-01 -8.28369170e-02 1.32987658e+02] [-5.19720383e-01 8.52715508e-01 5.26021549e-02 -5.44570049e+01] [ 9.81142784e-02 -1.59056618e-03 9.95173884e-01 -3.19652512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:-54.47, Z:-3.20 [[ 8.48532832e-01 5.22131370e-01 -8.58537473e-02 1.33019940e+02] [-5.20461849e-01 8.52822246e-01 4.25873244e-02 -5.44743035e+01] [ 9.54541636e-02 8.54685708e-03 9.95397134e-01 -3.20400756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:-54.50, Z:-3.19 [[ 8.47844879e-01 5.24542956e-01 -7.75483644e-02 1.33037204e+02] [-5.20999501e-01 8.51296055e-01 6.20849987e-02 -5.44985970e+01] [ 9.85828654e-02 -1.22357891e-02 9.95053619e-01 -3.18666349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:-54.51, Z:-3.19 [[ 8.46799843e-01 5.25360231e-01 -8.32265171e-02 1.33065534e+02] [-5.22691385e-01 8.50878926e-01 5.29034037e-02 -5.45135074e+01] [ 9.86090339e-02 -1.29681045e-03 9.95125408e-01 -3.18610433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:-54.53, Z:-3.18 [[ 8.46130548e-01 5.26455192e-01 -8.31145418e-02 1.33091820e+02] [-5.23795880e-01 8.50202040e-01 5.28617845e-02 -5.45314968e+01] [ 9.84935138e-02 -1.19291612e-03 9.95136978e-01 -3.18303957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.13, Y:-54.55, Z:-3.19 [[ 8.45773951e-01 5.26264500e-01 -8.78185657e-02 1.33126157e+02] [-5.24886441e-01 8.50232356e-01 3.99895664e-02 -5.45474511e+01] [ 9.57112751e-02 1.22726408e-02 9.95333479e-01 -3.19217344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-54.58, Z:-3.18 [[ 8.43811645e-01 5.30964161e-01 -7.78393682e-02 1.33145272e+02] [-5.27674524e-01 8.47342778e-01 5.97479054e-02 -5.45763342e+01] [ 9.76806230e-02 -9.34212672e-03 9.95173965e-01 -3.17883414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.17, Y:-54.59, Z:-3.17 [[ 8.43300675e-01 5.31451899e-01 -8.00178142e-02 1.33169690e+02] [-5.28249163e-01 8.47057558e-01 5.87053247e-02 -5.45888417e+01] [ 9.89787505e-02 -7.23689658e-03 9.95063231e-01 -3.17219800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:-54.60, Z:-3.18 [[ 8.42673917e-01 5.31338845e-01 -8.70614845e-02 1.33203410e+02] [-5.29507858e-01 8.47118661e-01 4.48486608e-02 -5.46049397e+01] [ 9.75812439e-02 8.30694347e-03 9.95192894e-01 -3.17932380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41361786499996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.23, Y:-54.63, Z:-3.17 [[ 8.41974559e-01 5.32711874e-01 -8.54218970e-02 1.33226948e+02] [-5.30088392e-01 8.46296279e-01 5.28100798e-02 -5.46269181e+01] [ 1.00424790e-01 8.16412329e-04 9.94944318e-01 -3.17389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:-54.65, Z:-3.17 [[ 8.41947182e-01 5.33253646e-01 -8.22526146e-02 1.33252764e+02] [-5.30794598e-01 8.45955201e-01 5.11555673e-02 -5.46450108e+01] [ 9.68609199e-02 5.88957874e-04 9.95297752e-01 -3.17133250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:-54.67, Z:-3.16 [[ 8.41130784e-01 5.35391790e-01 -7.65155925e-02 1.33270427e+02] [-5.31512097e-01 8.44472844e-01 6.60341277e-02 -5.46660016e+01] [ 9.99694698e-02 -1.48743746e-02 9.94879318e-01 -3.15578421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:-54.68, Z:-3.17 [[ 8.41564940e-01 5.32722729e-01 -8.93025490e-02 1.33307076e+02] [-5.31226093e-01 8.46200466e-01 4.17565523e-02 -5.46772304e+01] [ 9.78125231e-02 1.22989937e-02 9.95128859e-01 -3.16885024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.32, Y:-54.70, Z:-3.15 [[ 8.41225762e-01 5.35148176e-01 -7.71728361e-02 1.33322574e+02] [-5.31322435e-01 8.44642083e-01 6.53928231e-02 -5.47037385e+01] [ 1.00178275e-01 -1.40064682e-02 9.94870912e-01 -3.14895896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.35, Y:-54.72, Z:-3.15 [[ 8.41282350e-01 5.34008519e-01 -8.41362617e-02 1.33353630e+02] [-5.31305072e-01 8.45478978e-01 5.36676725e-02 -5.47172064e+01] [ 9.97944348e-02 -4.47643093e-04 9.95007975e-01 -3.15076016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:-54.74, Z:-3.15 [[ 8.41826585e-01 5.33280078e-01 -8.33088184e-02 1.33378364e+02] [-5.30623070e-01 8.45938562e-01 5.31705488e-02 -5.47366572e+01] [ 9.88289364e-02 -5.54800565e-04 9.95104283e-01 -3.14739328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-54.75, Z:-3.16 [[ 8.42695826e-01 5.31114319e-01 -8.82118197e-02 1.33412315e+02] [-5.29836599e-01 8.47190245e-01 3.92666151e-02 -5.47517665e+01] [ 9.55872547e-02 1.36480378e-02 9.95327488e-01 -3.15663258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-54.78, Z:-3.14 [[ 8.42493358e-01 5.32896166e-01 -7.89089246e-02 1.33432768e+02] [-5.29913201e-01 8.46160209e-01 5.66118400e-02 -5.47796748e+01] [ 9.69378246e-02 -5.88021834e-03 9.95273069e-01 -3.14437237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:133.46, Y:-54.79, Z:-3.15 [[ 8.44137347e-01 5.29653091e-01 -8.30646878e-02 1.33462695e+02] [-5.27679902e-01 8.48199385e-01 4.59535046e-02 -5.47935070e+01] [ 9.47948329e-02 5.04049685e-03 9.95484070e-01 -3.14792005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:-54.82, Z:-3.13 [[ 8.43723203e-01 5.31501234e-01 -7.50839243e-02 1.33478114e+02] [-5.27458152e-01 8.46875562e-01 6.77471819e-02 -5.48188752e+01] [ 9.95944513e-02 -1.75562413e-02 9.94873220e-01 -3.12772197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:-54.83, Z:-3.15 [[ 8.44981209e-01 5.27093065e-01 -9.04414636e-02 1.33518463e+02] [-5.26153044e-01 8.49632255e-01 3.58887820e-02 -5.48256586e+01] [ 9.57587127e-02 1.72607050e-02 9.95254911e-01 -3.14593435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-54.86, Z:-3.12 [[ 8.44948837e-01 5.29760802e-01 -7.35863785e-02 1.33528784e+02] [-5.25524299e-01 8.47901859e-01 6.99045650e-02 -5.48561974e+01] [ 9.94267256e-02 -2.03943509e-02 9.94835864e-01 -3.11966061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.57, Y:-54.86, Z:-3.14 [[ 8.46975468e-01 5.23958890e-01 -8.99979895e-02 1.33567690e+02] [-5.22900356e-01 8.51596306e-01 3.68639435e-02 -5.48619912e+01] [ 9.59571463e-02 1.58371249e-02 9.95259469e-01 -3.13924811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.59, Y:-54.88, Z:-3.14 [[ 8.48191568e-01 5.22958845e-01 -8.41730942e-02 1.33594061e+02] [-5.21314799e-01 8.52319683e-01 4.22142018e-02 -5.48838072e+01] [ 9.38186752e-02 8.07494967e-03 9.95556554e-01 -3.13607597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.62, Y:-54.91, Z:-3.13 [[ 8.48015652e-01 5.24030766e-01 -7.91278108e-02 1.33619111e+02] [-5.21549802e-01 8.51697094e-01 5.09692419e-02 -5.49061424e+01] [ 9.41023773e-02 -1.95362083e-03 9.95560609e-01 -3.12885530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:-54.93, Z:-3.12 [[ 8.47905670e-01 5.24554375e-01 -7.68028876e-02 1.33641044e+02] [-5.21290269e-01 8.51315092e-01 5.93217405e-02 -5.49279510e+01] [ 9.65009359e-02 -1.02626422e-02 9.95279985e-01 -3.11995903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.67, Y:-54.94, Z:-3.12 [[ 8.48549910e-01 5.23015383e-01 -8.01121711e-02 1.33670709e+02] [-5.20352916e-01 8.52317549e-01 5.27980851e-02 -5.49439688e+01] [ 9.58952200e-02 -3.11520846e-03 9.95386559e-01 -3.11853004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-54.96, Z:-3.12 [[ 8.48395163e-01 5.21860741e-01 -8.88088650e-02 1.33699531e+02] [-5.20044102e-01 8.52987688e-01 4.43411382e-02 -5.49560633e+01] [ 9.88927677e-02 8.56571931e-03 9.95061229e-01 -3.12039652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.72, Y:-54.98, Z:-3.11 [[ 8.48533508e-01 5.22418085e-01 -8.40846618e-02 1.33724070e+02] [-5.19729822e-01 8.52688599e-01 5.29439791e-02 -5.49786593e+01] [ 9.93569247e-02 -1.22343399e-03 9.95051107e-01 -3.11364777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.75, Y:-55.00, Z:-3.11 [[ 8.47888856e-01 5.23607578e-01 -8.31840822e-02 1.33749611e+02] [-5.20583352e-01 8.51947709e-01 5.63744183e-02 -5.49997671e+01] [ 1.00386561e-01 -4.49499275e-03 9.94938357e-01 -3.10809271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.78, Y:-55.02, Z:-3.11 [[ 8.48156326e-01 5.22919018e-01 -8.47735068e-02 1.33778109e+02] [-5.20222161e-01 8.52381902e-01 5.30471218e-02 -5.50157730e+01] [ 9.99987518e-02 -8.91195037e-04 9.94987163e-01 -3.10681348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.80, Y:-55.04, Z:-3.10 [[ 8.47364274e-01 5.25043188e-01 -7.93941883e-02 1.33800342e+02] [-5.21433460e-01 8.50996515e-01 6.25466104e-02 -5.50391721e+01] [ 1.00403849e-01 -1.16009767e-02 9.94879131e-01 -3.09695331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:-55.06, Z:-3.09 [[ 8.46370261e-01 5.26810679e-01 -7.82808439e-02 1.33826527e+02] [-5.23007281e-01 8.49870608e-01 6.46786951e-02 -5.50591472e+01] [ 1.00602016e-01 -1.38006727e-02 9.94831029e-01 -3.08986536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.86, Y:-55.07, Z:-3.09 [[ 8.46910215e-01 5.24929481e-01 -8.48064078e-02 1.33858597e+02] [-5.22404607e-01 8.51145394e-01 5.14290376e-02 -5.50701258e+01] [ 9.91792014e-02 7.47480812e-04 9.95069308e-01 -3.09395243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:133.88, Y:-55.08, Z:-3.09 [[ 8.45354838e-01 5.26408452e-01 -9.09359095e-02 1.33883857e+02] [-5.24275036e-01 8.50201390e-01 4.78882276e-02 -5.50845510e+01] [ 1.02522604e-01 7.19288240e-03 9.94704669e-01 -3.09232927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19361786499996 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:133.92, Y:-55.10, Z:-3.10 [[ 8.44983053e-01 5.26181524e-01 -9.55857880e-02 1.33915918e+02] [-5.25253403e-01 8.50155127e-01 3.66759157e-02 -5.50997647e+01] [ 1.00560937e-01 1.92162332e-02 9.94745311e-01 -3.09684743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:-55.14, Z:-3.07 [[ 8.44783365e-01 5.30306480e-01 -7.15269399e-02 1.33927270e+02] [-5.25356302e-01 8.47347667e-01 7.74770063e-02 -5.51352673e+01] [ 1.01694744e-01 -2.78741575e-02 9.94425065e-01 -3.07152945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.96, Y:-55.15, Z:-3.07 [[ 8.44627315e-01 5.29674559e-01 -7.77789179e-02 1.33957875e+02] [-5.25924059e-01 8.48094514e-01 6.43395654e-02 -5.51469640e+01] [ 1.00042905e-01 -1.34371501e-02 9.94892386e-01 -3.07184178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:133.99, Y:-55.16, Z:-3.07 [[ 8.43880266e-01 5.29937742e-01 -8.38575326e-02 1.33987275e+02] [-5.27183663e-01 8.48035492e-01 5.39739689e-02 -5.51604008e+01] [ 9.97170072e-02 -1.33924602e-03 9.95014937e-01 -3.07259708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:-55.18, Z:-3.07 [[ 8.42514708e-01 5.31589479e-01 -8.70723475e-02 1.34013625e+02] [-5.28844555e-01 8.47001935e-01 5.39551506e-02 -5.51771061e+01] [ 1.02432437e-01 5.89728927e-04 9.94739789e-01 -3.06893502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34361786499997 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:134.04, Y:-55.19, Z:-3.07 [[ 8.42505674e-01 5.30069519e-01 -9.59713165e-02 1.34041359e+02] [-5.28321801e-01 8.47856381e-01 4.48957945e-02 -5.51859873e+01] [ 1.05167785e-01 1.28787772e-02 9.94371095e-01 -3.06691769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.06, Y:-55.22, Z:-3.06 [[ 8.42994735e-01 5.31922075e-01 -8.01173059e-02 1.34063262e+02] [-5.28079711e-01 8.46700808e-01 6.50350686e-02 -5.52163227e+01] [ 1.02428976e-01 -1.25158966e-02 9.94661579e-01 -3.05632881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.09, Y:-55.23, Z:-3.06 [[ 8.42535593e-01 5.32875983e-01 -7.85936502e-02 1.34090182e+02] [-5.29578729e-01 8.46147658e-01 5.98373672e-02 -5.52312889e+01] [ 9.83877289e-02 -8.79358624e-03 9.95109304e-01 -3.05567709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.12, Y:-55.25, Z:-3.06 [[ 8.42414648e-01 5.32185413e-01 -8.43578448e-02 1.34122968e+02] [-5.29832703e-01 8.46624044e-01 5.00503169e-02 -5.52456826e+01] [ 9.80554283e-02 2.53242486e-03 9.95177733e-01 -3.05740606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.15, Y:-55.26, Z:-3.06 [[ 8.41052655e-01 5.32890202e-01 -9.30508715e-02 1.34148147e+02] [-5.31087446e-01 8.46108090e-01 4.52462671e-02 -5.52560353e+01] [ 1.02842388e-01 1.13636566e-02 9.94632752e-01 -3.05775169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.17, Y:-55.28, Z:-3.05 [[ 8.41437730e-01 5.34121230e-01 -8.18355550e-02 1.34172339e+02] [-5.30996329e-01 8.45391321e-01 5.79345563e-02 -5.52814147e+01] [ 1.00127144e-01 -5.29394234e-03 9.94960567e-01 -3.04954888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:-55.30, Z:-3.04 [[ 8.40541694e-01 5.35296903e-01 -8.33479790e-02 1.34198182e+02] [-5.31895198e-01 8.44638060e-01 6.06139101e-02 -5.53002042e+01] [ 1.02845314e-01 -6.61612885e-03 9.94675358e-01 -3.04329910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.23, Y:-55.32, Z:-3.04 [[ 8.41001669e-01 5.35218250e-01 -7.91051055e-02 1.34226401e+02] [-5.31694468e-01 8.44652014e-01 6.21608166e-02 -5.53202329e+01] [ 1.00085890e-01 -1.02176035e-02 9.94926337e-01 -3.03879346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.26, Y:-55.33, Z:-3.04 [[ 8.39903228e-01 5.35212316e-01 -9.00574522e-02 1.34255487e+02] [-5.32664079e-01 8.44707976e-01 5.23202988e-02 -5.53309800e+01] [ 1.04074717e-01 4.02638202e-03 9.94561331e-01 -3.03986310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.28, Y:-55.35, Z:-3.04 [[ 8.40596301e-01 5.34374421e-01 -8.85541512e-02 1.34282904e+02] [-5.31567695e-01 8.45247184e-01 5.47081728e-02 -5.53497153e+01] [ 1.04084795e-01 1.08503836e-03 9.94567835e-01 -3.03682201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.31, Y:-55.37, Z:-3.03 [[ 8.40445395e-01 5.34796985e-01 -8.74283830e-02 1.34308146e+02] [-5.32009835e-01 8.44980308e-01 5.45326957e-02 -5.53657686e+01] [ 1.03039183e-01 6.81006626e-04 9.94677065e-01 -3.03456071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:-55.38, Z:-3.03 [[ 8.40479636e-01 5.35130996e-01 -8.50223432e-02 1.34333878e+02] [-5.32024451e-01 8.44762897e-01 5.76682935e-02 -5.53845766e+01] [ 1.02683812e-01 -3.23506087e-03 9.94708786e-01 -3.02968889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:-55.40, Z:-3.03 [[ 8.40332132e-01 5.34882009e-01 -8.79951393e-02 1.34362302e+02] [-5.31949823e-01 8.44926742e-01 5.59301917e-02 -5.54005151e+01] [ 1.04265500e-01 -1.90938388e-04 9.94549480e-01 -3.02726446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:-55.42, Z:-3.02 [[ 8.40107701e-01 5.35479765e-01 -8.64897235e-02 1.34390372e+02] [-5.32485154e-01 8.44546776e-01 5.65712308e-02 -5.54189348e+01] [ 1.03337366e-01 -1.47143289e-03 9.94645275e-01 -3.02333095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:-55.44, Z:-3.02 [[ 8.39509003e-01 5.36974521e-01 -8.29638356e-02 1.34413842e+02] [-5.33567151e-01 8.43571436e-01 6.07727546e-02 -5.54365457e+01] [ 1.02619343e-01 -6.75249722e-03 9.94697780e-01 -3.01720096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:-55.46, Z:-3.02 [[ 8.38416205e-01 5.38888906e-01 -8.15905256e-02 1.34444175e+02] [-5.35392697e-01 8.42337394e-01 6.18253503e-02 -5.54571763e+01] [ 1.02043746e-01 -8.15240406e-03 9.94746507e-01 -3.01614061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:-55.47, Z:-3.01 [[ 8.38168671e-01 5.37084320e-01 -9.49405765e-02 1.34473877e+02] [-5.34397099e-01 8.43510480e-01 5.39426585e-02 -5.54672148e+01] [ 1.09055127e-01 5.52292227e-03 9.94020360e-01 -3.01144914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-55.49, Z:-3.01 [[ 8.38312781e-01 5.38434918e-01 -8.55541943e-02 1.34497926e+02] [-5.34956005e-01 8.42647948e-01 6.13718912e-02 -5.54879182e+01] [ 1.05136835e-01 -5.68111082e-03 9.94441537e-01 -3.00500352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:-55.50, Z:-3.00 [[ 8.38258580e-01 5.37979493e-01 -8.88854185e-02 1.34526829e+02] [-5.35045914e-01 8.42957763e-01 5.61077524e-02 -5.55013803e+01] [ 1.05111474e-01 5.24975155e-04 9.94460307e-01 -3.00482669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.56, Y:-55.52, Z:-3.01 [[ 8.38824638e-01 5.36819670e-01 -9.05420807e-02 1.34556525e+02] [-5.33575053e-01 8.43696249e-01 5.89432130e-02 -5.55198821e+01] [ 1.08031890e-01 -1.13202383e-03 9.94146785e-01 -3.00550170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-55.54, Z:-3.00 [[ 8.38073216e-01 5.37835174e-01 -9.14691777e-02 1.34581396e+02] [-5.34798332e-01 8.43049325e-01 5.70839638e-02 -5.55356099e+01] [ 1.07814792e-01 1.07702261e-03 9.94170413e-01 -2.99640819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:-55.55, Z:-2.99 [[ 8.38352468e-01 5.37930338e-01 -8.82954734e-02 1.34603683e+02] [-5.34383887e-01 8.42976397e-01 6.18437984e-02 -5.55528244e+01] [ 1.07698655e-01 -4.66322274e-03 9.94172648e-01 -2.98953331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.63, Y:-55.57, Z:-2.99 [[ 8.39530025e-01 5.36304579e-01 -8.69869923e-02 1.34634089e+02] [-5.33207274e-01 8.44022237e-01 5.75887750e-02 -5.55687761e+01] [ 1.04304080e-01 -1.96540870e-03 9.94543511e-01 -2.99059697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.66, Y:-55.59, Z:-2.99 [[ 8.39157032e-01 5.36654912e-01 -8.84136893e-02 1.34660673e+02] [-5.33226276e-01 8.43793356e-01 6.06837045e-02 -5.55880317e+01] [ 1.07169092e-01 -3.77865510e-03 9.94233628e-01 -2.99012656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:134.69, Y:-55.60, Z:-2.98 [[ 8.41119501e-01 5.33358376e-01 -8.97041109e-02 1.34687528e+02] [-5.30754778e-01 8.45883123e-01 5.27362037e-02 -5.55984217e+01] [ 1.04006489e-01 3.25343614e-03 9.94571297e-01 -2.98485409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-55.62, Z:-2.99 [[ 8.41519207e-01 5.31970913e-01 -9.40870425e-02 1.34719839e+02] [-5.29552839e-01 8.46735273e-01 5.11191563e-02 -5.56158569e+01] [ 1.06860722e-01 6.80630863e-03 9.94250703e-01 -2.98603238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:-55.65, Z:-2.96 [[ 8.41762888e-01 5.35322095e-01 -6.97531045e-02 1.34733674e+02] [-5.29899222e-01 8.44015657e-01 8.27308036e-02 -5.56492418e+01] [ 1.03160339e-01 -3.26776044e-02 9.94127818e-01 -2.96248187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:-55.64, Z:-2.99 [[ 8.44209595e-01 5.27552497e-01 -9.48605420e-02 1.34776813e+02] [-5.26188094e-01 8.49383319e-01 4.09153569e-02 -5.56429221e+01] [ 1.02157961e-01 1.53733510e-02 9.94649391e-01 -2.98560332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:-55.66, Z:-2.97 [[ 8.42983209e-01 5.30471793e-01 -8.93251714e-02 1.34797564e+02] [-5.28118806e-01 8.47688425e-01 5.01483836e-02 -5.56627771e+01] [ 1.02322217e-01 4.90005761e-03 9.94739239e-01 -2.97475896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.83, Y:-55.68, Z:-2.97 [[ 8.43566029e-01 5.29705390e-01 -8.83660244e-02 1.34825933e+02] [-5.26854554e-01 8.48181663e-01 5.48830251e-02 -5.56836965e+01] [ 1.04022276e-01 2.58586767e-04 9.94574934e-01 -2.96976418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:-55.70, Z:-2.96 [[ 8.44082920e-01 5.28445651e-01 -9.09352443e-02 1.34854681e+02] [-5.25269113e-01 8.48966450e-01 5.78647131e-02 -5.57031310e+01] [ 1.07779328e-01 -1.07714082e-03 9.94174259e-01 -2.96422165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.88, Y:-55.72, Z:-2.96 [[ 8.44146354e-01 5.29538433e-01 -8.37017375e-02 1.34877263e+02] [-5.25853147e-01 8.48236053e-01 6.30401927e-02 -5.57215656e+01] [ 1.04381036e-01 -9.20032668e-03 9.94494823e-01 -2.95899388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.92, Y:-55.73, Z:-2.96 [[ 8.44104271e-01 5.25921440e-01 -1.04377292e-01 1.34915550e+02] [-5.24093248e-01 8.50392271e-01 4.64677545e-02 -5.57312950e+01] [ 1.13200031e-01 1.54798039e-02 9.93451624e-01 -2.96267953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:-55.76, Z:-2.95 [[ 8.44379701e-01 5.30220617e-01 -7.67399374e-02 1.34926530e+02] [-5.25320343e-01 8.47531186e-01 7.56929708e-02 -5.57617547e+01] [ 1.05173464e-01 -2.36005577e-02 9.94173806e-01 -2.94513000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:-55.77, Z:-2.95 [[ 8.44123389e-01 5.28389252e-01 -9.08873086e-02 1.34960552e+02] [-5.26014470e-01 8.48985510e-01 5.03227802e-02 -5.57654777e+01] [ 1.03752024e-01 5.32940368e-03 9.94588918e-01 -2.95269815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-55.78, Z:-2.95 [[ 8.44206973e-01 5.26371707e-01 -1.01229505e-01 1.34993312e+02] [-5.24288972e-01 8.50166303e-01 4.83562812e-02 -5.57821838e+01] [ 1.11515292e-01 1.22508034e-02 9.93687203e-01 -2.95167670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.01, Y:-55.81, Z:-2.94 [[ 8.44355787e-01 5.29576851e-01 -8.13121353e-02 1.35008561e+02] [-5.24993364e-01 8.48072297e-01 7.18007425e-02 -5.58108148e+01] [ 1.06982580e-01 -1.79370411e-02 9.94099085e-01 -2.93630457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:-55.82, Z:-2.94 [[ 8.43855688e-01 5.30126462e-01 -8.29066413e-02 1.35037489e+02] [-5.26303434e-01 8.47850355e-01 6.44551849e-02 -5.58248080e+01] [ 1.04461824e-01 -1.07568244e-02 9.94470723e-01 -2.93563432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:-55.83, Z:-2.94 [[ 8.43664555e-01 5.27373923e-01 -1.00532901e-01 1.35073571e+02] [-5.25602767e-01 8.49510805e-01 4.55315689e-02 -5.58327341e+01] [ 1.09415948e-01 1.44270001e-02 9.93891348e-01 -2.94070349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:-55.86, Z:-2.93 [[ 8.43330201e-01 5.30902115e-01 -8.32893578e-02 1.35091274e+02] [-5.26907258e-01 8.47350471e-01 6.60751118e-02 -5.58597084e+01] [ 1.05654693e-01 -1.18373701e-02 9.94332421e-01 -2.92811842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.11, Y:-55.88, Z:-2.93 [[ 8.41024271e-01 5.34636040e-01 -8.27192786e-02 1.35114342e+02] [-5.30686784e-01 8.45004106e-01 6.58756226e-02 -5.58754207e+01] [ 1.05117612e-01 -1.15049696e-02 9.94393244e-01 -2.92557810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:135.16, Y:-55.88, Z:-2.93 [[ 8.42285544e-01 5.29145312e-01 -1.02763328e-01 1.35155767e+02] [-5.27802944e-01 8.48323253e-01 4.20917008e-02 -5.58830387e+01] [ 1.09449147e-01 1.87855559e-02 9.93814866e-01 -2.93147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.18, Y:-55.91, Z:-2.92 [[ 8.41423036e-01 5.31663635e-01 -9.66491241e-02 1.35178637e+02] [-5.28685486e-01 8.46947468e-01 5.63173467e-02 -5.59066177e+01] [ 1.11798616e-01 3.71027635e-03 9.93723957e-01 -2.92395174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.20, Y:-55.94, Z:-2.91 [[ 8.41388621e-01 5.35357453e-01 -7.38754702e-02 1.35197334e+02] [-5.29883723e-01 8.44098602e-01 8.19804262e-02 -5.59386530e+01] [ 1.06247013e-01 -2.98319886e-02 9.93892159e-01 -2.90615422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.24, Y:-55.94, Z:-2.92 [[ 8.40740008e-01 5.32471568e-01 -9.81339342e-02 1.35235534e+02] [-5.30356654e-01 8.46375019e-01 4.86944334e-02 -5.59378728e+01] [ 1.08986512e-01 1.11066266e-02 9.93981178e-01 -2.91963854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.26, Y:-55.96, Z:-2.91 [[ 8.41172817e-01 5.34173755e-01 -8.41824897e-02 1.35257412e+02] [-5.30505222e-01 8.45333156e-01 6.30560400e-02 -5.59631410e+01] [ 1.04845131e-01 -8.38177646e-03 9.94453239e-01 -2.91027771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-55.97, Z:-2.92 [[ 8.40947015e-01 5.32404418e-01 -9.67142894e-02 1.35288976e+02] [-5.30519135e-01 8.46401133e-01 4.64173384e-02 -5.59693301e+01] [ 1.06571880e-01 1.22742589e-02 9.94229238e-01 -2.91626791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.31, Y:-55.99, Z:-2.91 [[ 8.41595933e-01 5.32361333e-01 -9.11465731e-02 1.35314357e+02] [-5.29570612e-01 8.46513798e-01 5.44917956e-02 -5.59908404e+01] [ 1.06166157e-01 2.40847301e-03 9.94345486e-01 -2.91061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.34, Y:-56.01, Z:-2.91 [[ 8.41651189e-01 5.32662858e-01 -8.88456903e-02 1.35341178e+02] [-5.29456705e-01 8.46324903e-01 5.83931183e-02 -5.60106514e+01] [ 1.06296166e-01 -2.10669098e-03 9.94332282e-01 -2.90534673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:-56.03, Z:-2.90 [[ 8.40953538e-01 5.33613592e-01 -8.97423058e-02 1.35365847e+02] [-5.30537624e-01 8.45728255e-01 5.72149284e-02 -5.60254747e+01] [ 1.06428267e-01 -5.03426777e-04 9.94320256e-01 -2.90287456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:-56.06, Z:-2.89 [[ 8.41280891e-01 5.35238995e-01 -7.59320801e-02 1.35387772e+02] [-5.30158439e-01 8.44325973e-01 7.77539802e-02 -5.60559515e+01] [ 1.05728390e-01 -2.51569046e-02 9.94076777e-01 -2.88511009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.42, Y:-56.06, Z:-2.90 [[ 8.42186960e-01 5.31440941e-01 -9.10584973e-02 1.35424519e+02] [-5.28962974e-01 8.47081711e-01 5.14853960e-02 -5.60613687e+01] [ 1.04495435e-01 4.80624439e-03 9.94513753e-01 -2.89571744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.45, Y:-56.08, Z:-2.89 [[ 8.42663843e-01 5.31212778e-01 -8.79240153e-02 1.35449608e+02] [-5.28170108e-01 8.47237259e-01 5.67922839e-02 -5.60812655e+01] [ 1.04661289e-01 -1.41796754e-03 9.94506915e-01 -2.89022052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.47, Y:-56.10, Z:-2.88 [[ 8.43338718e-01 5.30739079e-01 -8.42367838e-02 1.35474135e+02] [-5.26627691e-01 8.47447679e-01 6.70500313e-02 -5.61042854e+01] [ 1.06972339e-01 -1.21844645e-02 9.94187335e-01 -2.88192181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:-56.11, Z:-2.89 [[ 8.44271319e-01 5.28247808e-01 -9.03337891e-02 1.35505537e+02] [-5.25739933e-01 8.49081028e-01 5.15648191e-02 -5.61138609e+01] [ 1.03939709e-01 3.95738241e-03 9.94575727e-01 -2.88532131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:-56.13, Z:-2.89 [[ 8.46622497e-01 5.24702081e-01 -8.89835544e-02 1.35531576e+02] [-5.22443139e-01 8.51270720e-01 4.89012130e-02 -5.61278839e+01] [ 1.01407663e-01 5.08798042e-03 9.94831945e-01 -2.88587220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-56.15, Z:-2.88 [[ 8.47392805e-01 5.24058010e-01 -8.53735036e-02 1.35554294e+02] [-5.21077019e-01 8.51677717e-01 5.58910272e-02 -5.61470147e+01] [ 1.02000851e-01 -2.87548357e-03 9.94780156e-01 -2.88208110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.59, Y:-56.16, Z:-2.89 [[ 8.50505248e-01 5.18131021e-01 -9.04492520e-02 1.35586778e+02] [-5.16594687e-01 8.55224673e-01 4.14811762e-02 -5.61577039e+01] [ 9.88471162e-02 1.14456449e-02 9.95036806e-01 -2.88665537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:-56.19, Z:-2.87 [[ 8.50083521e-01 5.20562544e-01 -7.98288439e-02 1.35605320e+02] [-5.16723035e-01 8.53714645e-01 6.45647687e-02 -5.61879018e+01] [ 1.01761053e-01 -1.36360435e-02 9.94715410e-01 -2.86956893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.64, Y:-56.20, Z:-2.87 [[ 8.50821394e-01 5.18282854e-01 -8.65207386e-02 1.35636581e+02] [-5.15597257e-01 8.55209234e-01 5.26937924e-02 -5.61998809e+01] [ 1.01303624e-01 -2.23150421e-04 9.94855530e-01 -2.87297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.66, Y:-56.22, Z:-2.86 [[ 8.50819831e-01 5.18488009e-01 -8.52983055e-02 1.35659190e+02] [-5.15084461e-01 8.55057349e-01 5.97070253e-02 -5.62211766e+01] [ 1.03892320e-01 -6.86408946e-03 9.94564865e-01 -2.86456552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:135.69, Y:-56.23, Z:-2.87 [[ 8.51900101e-01 5.15992928e-01 -8.95405853e-02 1.35690228e+02] [-5.13662892e-01 8.56582937e-01 4.91538924e-02 -5.62325293e+01] [ 1.02061998e-01 4.11947013e-03 9.94769510e-01 -2.86881355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-56.26, Z:-2.86 [[ 8.51123335e-01 5.17926798e-01 -8.56790600e-02 1.35714608e+02] [-5.14532149e-01 8.55399349e-01 5.95702975e-02 -5.62561469e+01] [ 1.04142866e-01 -6.61703942e-03 9.94540335e-01 -2.85843868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:-56.28, Z:-2.85 [[ 8.49826929e-01 5.20694338e-01 -8.16798440e-02 1.35736678e+02] [-5.16351906e-01 8.53582448e-01 6.91210020e-02 -5.62781235e+01] [ 1.05711396e-01 -1.65653458e-02 9.94258865e-01 -2.84766693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:-56.28, Z:-2.86 [[ 8.49911413e-01 5.18359467e-01 -9.46258603e-02 1.35772508e+02] [-5.16662920e-01 8.55080405e-01 4.35537362e-02 -5.62820527e+01] [ 1.03489210e-01 1.18728558e-02 9.94559711e-01 -2.85943391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:135.79, Y:-56.31, Z:-2.85 [[ 8.49310733e-01 5.21219778e-01 -8.36733067e-02 1.35793415e+02] [-5.17831316e-01 8.53389854e-01 5.98037296e-02 -5.63070580e+01] [ 1.02576838e-01 -7.46329096e-03 9.94697085e-01 -2.84753700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:135.82, Y:-56.32, Z:-2.85 [[ 8.47590610e-01 5.23197573e-01 -8.86253735e-02 1.35824009e+02] [-5.20407523e-01 8.52211331e-01 5.39616354e-02 -5.63208146e+01] [ 1.03760144e-01 3.83935651e-04 9.94602275e-01 -2.84673146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:-56.34, Z:-2.85 [[ 8.46888365e-01 5.24530833e-01 -8.74500070e-02 1.35849896e+02] [-5.21801919e-01 8.51391369e-01 5.34368199e-02 -5.63361215e+01] [ 1.02483441e-01 3.76560484e-04 9.94734639e-01 -2.84684586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:-56.35, Z:-2.84 [[ 8.44917988e-01 5.27416147e-01 -8.91392252e-02 1.35878218e+02] [-5.24656397e-01 8.49606203e-01 5.38977356e-02 -5.63517735e+01] [ 1.04159775e-01 1.22829836e-03 9.94559819e-01 -2.84242780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:-56.37, Z:-2.83 [[ 8.44234400e-01 5.29637101e-01 -8.21755386e-02 1.35901592e+02] [-5.26058529e-01 8.48173963e-01 6.21558764e-02 -5.63719971e+01] [ 1.02619210e-01 -9.24498604e-03 9.94677751e-01 -2.83447697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.94, Y:-56.38, Z:-2.84 [[ 8.43711927e-01 5.29056359e-01 -9.08270510e-02 1.35935419e+02] [-5.26973556e-01 8.48551237e-01 4.75359821e-02 -5.63812032e+01] [ 1.02220620e-01 7.75677896e-03 9.94731510e-01 -2.83992864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:-56.41, Z:-2.82 [[ 8.41848626e-01 5.33094217e-01 -8.42700799e-02 1.35957114e+02] [-5.29181087e-01 8.45992182e-01 6.53039441e-02 -5.64072899e+01] [ 1.06104984e-01 -1.03819032e-02 9.94300733e-01 -2.82490714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.99, Y:-56.42, Z:-2.83 [[ 8.40539999e-01 5.34264801e-01 -8.97420337e-02 1.35987349e+02] [-5.31351099e-01 8.45316752e-01 5.57278890e-02 -5.64173776e+01] [ 1.05633894e-01 8.43008557e-04 9.94404731e-01 -2.82613001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:-56.44, Z:-2.82 [[ 8.40620349e-01 5.34942320e-01 -8.48182996e-02 1.36014422e+02] [-5.31443077e-01 8.44863032e-01 6.14386954e-02 -5.64382303e+01] [ 1.04526004e-01 -6.57051947e-03 9.94500449e-01 -2.81921055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:-56.46, Z:-2.81 [[ 8.39842855e-01 5.36006448e-01 -8.57966544e-02 1.36040184e+02] [-5.32207872e-01 8.44173211e-01 6.42368382e-02 -5.64563308e+01] [ 1.06858597e-01 -8.28719474e-03 9.94239691e-01 -2.81227090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:-56.47, Z:-2.82 [[ 8.40578531e-01 5.33676192e-01 -9.28302564e-02 1.36073029e+02] [-5.31289729e-01 8.45663277e-01 5.08413702e-02 -5.64652375e+01] [ 1.05635968e-01 6.58359751e-03 9.94383074e-01 -2.81748153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.09, Y:-56.49, Z:-2.80 [[ 8.40235144e-01 5.35505432e-01 -8.50813490e-02 1.36093733e+02] [-5.30999271e-01 8.44410772e-01 7.07829226e-02 -5.64922294e+01] [ 1.09748247e-01 -1.42961649e-02 9.93856600e-01 -2.80095915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:-56.50, Z:-2.81 [[ 8.41568435e-01 5.31756710e-01 -9.48544673e-02 1.36127637e+02] [-5.29470085e-01 8.46857498e-01 4.99380362e-02 -5.64972924e+01] [ 1.06883103e-01 8.19632785e-03 9.94237810e-01 -2.81142390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-56.52, Z:-2.80 [[ 8.42433600e-01 5.31454399e-01 -8.86670795e-02 1.36151760e+02] [-5.28279935e-01 8.47084420e-01 5.80370212e-02 -5.65176326e+01] [ 1.05952532e-01 -2.05129776e-03 9.94369073e-01 -2.80480514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.18, Y:-56.54, Z:-2.80 [[ 8.42587853e-01 5.31399640e-01 -8.75221874e-02 1.36176862e+02] [-5.27576295e-01 8.47084925e-01 6.41122716e-02 -5.65374550e+01] [ 1.08207964e-01 -7.84558990e-03 9.94097321e-01 -2.79716261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-56.55, Z:-2.80 [[ 8.44417816e-01 5.27662849e-01 -9.23605452e-02 1.36207296e+02] [-5.24467100e-01 8.49453731e-01 5.79881004e-02 -5.65516213e+01] [ 1.09054176e-01 -5.26117804e-04 9.94035668e-01 -2.79675821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:-56.57, Z:-2.79 [[ 8.45659436e-01 5.26200901e-01 -8.92901485e-02 1.36231954e+02] [-5.22663429e-01 8.50345484e-01 6.11187205e-02 -5.65698758e+01] [ 1.08088200e-01 -5.01692756e-03 9.94128649e-01 -2.79194984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.26, Y:-56.59, Z:-2.78 [[ 8.45782056e-01 5.26246416e-01 -8.78488662e-02 1.36256835e+02] [-5.22037993e-01 8.50259734e-01 6.73403126e-02 -5.65905277e+01] [ 1.10131952e-01 -1.10947822e-02 9.93855049e-01 -2.78280690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:-56.61, Z:-2.78 [[ 8.47537652e-01 5.22907896e-01 -9.08144343e-02 1.36286868e+02] [-5.19355207e-01 8.52377033e-01 6.10210027e-02 -5.66052139e+01] [ 1.09316502e-01 -4.55264799e-03 9.93996567e-01 -2.78061030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.31, Y:-56.62, Z:-2.78 [[ 8.47884755e-01 5.22065444e-01 -9.24073303e-02 1.36314439e+02] [-5.18759585e-01 8.52903483e-01 5.86868133e-02 -5.66205445e+01] [ 1.09452891e-01 -1.82246587e-03 9.93990313e-01 -2.77879745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:-56.64, Z:-2.77 [[ 8.48917191e-01 5.20350219e-01 -9.26026612e-02 1.36342234e+02] [-5.16976231e-01 8.53949611e-01 5.92084259e-02 -5.66379648e+01] [ 1.09887124e-01 -2.38967579e-03 9.93941200e-01 -2.77465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:-56.65, Z:-2.77 [[ 8.50624972e-01 5.17764807e-01 -9.14153317e-02 1.36371199e+02] [-5.14536330e-01 8.55520417e-01 5.77683436e-02 -5.66546248e+01] [ 1.08118098e-01 -2.10268639e-03 9.94135834e-01 -2.77291673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.40, Y:-56.67, Z:-2.77 [[ 8.51880033e-01 5.15386707e-01 -9.31501543e-02 1.36397976e+02] [-5.12439581e-01 8.56957310e-01 5.50440209e-02 -5.66685527e+01] [ 1.08194662e-01 8.42923717e-04 9.94129370e-01 -2.77160837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-56.68, Z:-2.77 [[ 8.52975217e-01 5.13736590e-01 -9.22387996e-02 1.36425359e+02] [-5.11055948e-01 8.57944650e-01 5.24670868e-02 -5.66825440e+01] [ 1.06090047e-01 2.38606244e-03 9.94353664e-01 -2.77187241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.013617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.45, Y:-56.70, Z:-2.77 [[ 8.54048150e-01 5.11748862e-01 -9.33534162e-02 1.36454350e+02] [-5.09182872e-01 8.59127093e-01 5.13170607e-02 -5.66990871e+01] [ 1.06463897e-01 3.70671983e-03 9.94309660e-01 -2.76969423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:-56.71, Z:-2.77 [[ 8.54705769e-01 5.10650611e-01 -9.33488188e-02 1.36482933e+02] [-5.08499483e-01 8.59759796e-01 4.73431026e-02 -5.67118952e+01] [ 1.04433346e-01 7.00340316e-03 9.94507229e-01 -2.77044854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:-56.74, Z:-2.76 [[ 8.53862084e-01 5.13174342e-01 -8.70151526e-02 1.36505283e+02] [-5.09422076e-01 8.58235761e-01 6.26141192e-02 -5.67363777e+01] [ 1.06811475e-01 -9.13638263e-03 9.94237313e-01 -2.75911767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:-56.75, Z:-2.75 [[ 8.53301175e-01 5.14924039e-01 -8.20386404e-02 1.36531521e+02] [-5.10950302e-01 8.57124295e-01 6.53278853e-02 -5.67531189e+01] [ 1.03956210e-01 -1.38266932e-02 9.94485761e-01 -2.75363526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-56.77, Z:-2.75 [[ 8.53296842e-01 5.14034214e-01 -8.74832908e-02 1.36562734e+02] [-5.10891028e-01 8.57761048e-01 5.68888658e-02 -5.67669169e+01] [ 1.04282583e-01 -3.84866124e-03 9.94540261e-01 -2.75369887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:-56.78, Z:-2.75 [[ 8.52151151e-01 5.16209425e-01 -8.58268300e-02 1.36589550e+02] [-5.12885854e-01 8.56440767e-01 5.87989268e-02 -5.67832526e+01] [ 1.03858156e-01 -6.08620621e-03 9.94573497e-01 -2.74943623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:-56.80, Z:-2.74 [[ 8.50825591e-01 5.18387308e-01 -8.58511080e-02 1.36614435e+02] [-5.14798100e-01 8.55107885e-01 6.14281809e-02 -5.68002821e+01] [ 1.05255549e-01 -8.06868101e-03 9.94412473e-01 -2.74321771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-56.81, Z:-2.75 [[ 8.51019084e-01 5.17284369e-01 -9.04621511e-02 1.36645296e+02] [-5.14841318e-01 8.55805482e-01 5.03526857e-02 -5.68100615e+01] [ 1.03464662e-01 3.72255669e-03 9.94626164e-01 -2.74680742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-56.84, Z:-2.73 [[ 8.49714605e-01 5.20281077e-01 -8.53972541e-02 1.36670383e+02] [-5.16289486e-01 8.53918691e-01 6.53302006e-02 -5.68361499e+01] [ 1.06912379e-01 -1.14223211e-02 9.94202833e-01 -2.73370835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.70, Y:-56.84, Z:-2.74 [[ 8.49638496e-01 5.19630216e-01 -8.99936874e-02 1.36700774e+02] [-5.16986492e-01 8.54388894e-01 5.23887835e-02 -5.68445078e+01] [ 1.04112402e-01 2.01399350e-03 9.94563498e-01 -2.73921734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-56.86, Z:-2.74 [[ 8.49339449e-01 5.19661340e-01 -9.25990880e-02 1.36731206e+02] [-5.17312104e-01 8.54353303e-01 4.96852069e-02 -5.68598143e+01] [ 1.04931818e-01 5.70302284e-03 9.94463066e-01 -2.73922698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:-56.89, Z:-2.73 [[ 8.48789856e-01 5.23079293e-01 -7.70962689e-02 1.36749896e+02] [-5.18933896e-01 8.52098469e-01 6.80867972e-02 -5.68857863e+01] [ 1.01308406e-01 -1.77835156e-02 9.94696111e-01 -2.72640505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-56.90, Z:-2.73 [[ 8.47683889e-01 5.23356479e-01 -8.67756952e-02 1.36781623e+02] [-5.20396333e-01 8.52111515e-01 5.56203462e-02 -5.68968104e+01] [ 1.03051838e-01 -1.99071776e-03 9.94673995e-01 -2.72528563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:-56.91, Z:-2.72 [[ 8.46179902e-01 5.25850318e-01 -8.63771754e-02 1.36807332e+02] [-5.22571898e-01 8.50564548e-01 5.88095229e-02 -5.69129867e+01] [ 1.04394369e-01 -4.62515180e-03 9.94525225e-01 -2.72194741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:-56.93, Z:-2.72 [[ 8.46006489e-01 5.25856309e-01 -8.80236507e-02 1.36837658e+02] [-5.22930879e-01 8.50573009e-01 5.53972246e-02 -5.69292102e+01] [ 1.04001521e-01 -8.36126450e-04 9.94576787e-01 -2.72032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:-56.94, Z:-2.72 [[ 8.44735831e-01 5.26827756e-01 -9.42013335e-02 1.36866168e+02] [-5.24121662e-01 8.49961762e-01 5.34928671e-02 -5.69443754e+01] [ 1.08249059e-01 4.18561793e-03 9.94114994e-01 -2.71775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-56.97, Z:-2.71 [[ 8.43240636e-01 5.31769170e-01 -7.85288486e-02 1.36882532e+02] [-5.27539219e-01 8.46723456e-01 6.90055141e-02 -5.69666994e+01] [ 1.03187223e-01 -1.67612061e-02 9.94520718e-01 -2.70781956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:136.93, Y:-56.96, Z:-2.72 [[ 8.45339995e-01 5.21542957e-01 -1.15729153e-01 1.36929459e+02] [-5.22229589e-01 8.52385716e-01 2.67366350e-02 -5.69552336e+01] [ 1.12590181e-01 3.78356412e-02 9.92920901e-01 -2.72008877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:136.93, Y:-57.00, Z:-2.70 [[ 8.43565412e-01 5.31804680e-01 -7.47072781e-02 1.36930766e+02] [-5.26584494e-01 8.46419666e-01 7.92623468e-02 -5.69999475e+01] [ 1.05385796e-01 -2.75232800e-02 9.94050453e-01 -2.69794261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:-57.00, Z:-2.71 [[ 8.45766212e-01 5.23666700e-01 -1.02238455e-01 1.36978085e+02] [-5.22107202e-01 8.51763678e-01 4.36200239e-02 -5.70013025e+01] [ 1.09925357e-01 1.64870915e-02 9.93803095e-01 -2.71146775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61361786499998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:136.99, Y:-57.02, Z:-2.70 [[ 8.46543806e-01 5.25218199e-01 -8.66569588e-02 1.36993736e+02] [-5.21591526e-01 8.50936039e-01 6.20494787e-02 -5.70244281e+01] [ 1.06329045e-01 -7.32806650e-03 9.94303995e-01 -2.70019701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:137.02, Y:-57.03, Z:-2.70 [[ 8.44795234e-01 5.26277594e-01 -9.67104246e-02 1.37018865e+02] [-5.23613020e-01 8.50293731e-01 5.31975201e-02 -5.70328747e+01] [ 1.10228931e-01 5.69782599e-03 9.93889892e-01 -2.70126394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67361786499998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:137.04, Y:-57.05, Z:-2.70 [[ 8.44856002e-01 5.26873013e-01 -9.28609967e-02 1.37041279e+02] [-5.23467427e-01 8.49941786e-01 5.98398950e-02 -5.70518129e+01] [ 1.10454467e-01 -1.94638737e-03 9.93879280e-01 -2.69529636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:-57.07, Z:-2.70 [[ 8.46980017e-01 5.24298879e-01 -8.79519024e-02 1.37068675e+02] [-5.21103567e-01 8.51528320e-01 5.78843118e-02 -5.70680258e+01] [ 1.05242215e-01 -3.19480532e-03 9.94441486e-01 -2.69874521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73361786499999 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:137.08, Y:-57.09, Z:-2.69 [[ 8.44719969e-01 5.28731048e-01 -8.30159809e-02 1.37082107e+02] [-5.24602523e-01 8.48685661e-01 6.72669447e-02 -5.70862056e+01] [ 1.06020595e-01 -1.32713384e-02 9.94275367e-01 -2.68755520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:137.11, Y:-57.09, Z:-2.70 [[ 8.44770923e-01 5.27750421e-01 -8.85527010e-02 1.37111961e+02] [-5.25844725e-01 8.49360881e-01 4.55347966e-02 -5.70933614e+01] [ 9.92442082e-02 8.09849859e-03 9.95030151e-01 -2.69935034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:-57.12, Z:-2.68 [[ 8.44401954e-01 5.28661447e-01 -8.66164833e-02 1.37130748e+02] [-5.24778212e-01 8.48784034e-01 6.46025741e-02 -5.71154655e+01] [ 1.07671578e-01 -9.09609653e-03 9.94144905e-01 -2.68152021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:-57.13, Z:-2.68 [[ 8.44759630e-01 5.27744745e-01 -8.86941457e-02 1.37160067e+02] [-5.24352735e-01 8.49393241e-01 5.98776366e-02 -5.71309268e+01] [ 1.06936316e-01 -4.07519225e-03 9.94257521e-01 -2.68069254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85361786499996 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:137.19, Y:-57.15, Z:-2.68 [[ 8.45289976e-01 5.26885401e-01 -8.87503854e-02 1.37185023e+02] [-5.23215501e-01 8.49912918e-01 6.23984894e-02 -5.71479122e+01] [ 1.08306952e-01 -6.30924019e-03 9.94097479e-01 -2.67698298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:-57.16, Z:-2.69 [[ 8.47573638e-01 5.22249542e-01 -9.42037404e-02 1.37222884e+02] [-5.20811958e-01 8.52675713e-01 4.12193324e-02 -5.71562379e+01] [ 1.01852019e-01 1.41260150e-02 9.94699262e-01 -2.68665101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:-57.19, Z:-2.66 [[ 8.45785658e-01 5.27425494e-01 -8.04298985e-02 1.37234366e+02] [-5.22385599e-01 8.49307448e-01 7.60930092e-02 -5.71900502e+01] [ 1.08443105e-01 -2.23429551e-02 9.93851541e-01 -2.66046072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-57.20, Z:-2.66 [[ 8.45433238e-01 5.26133123e-01 -9.17963863e-02 1.37268028e+02] [-5.22819229e-01 8.50400147e-01 5.89884996e-02 -5.71996690e+01] [ 1.09099464e-01 -1.87792236e-03 9.94029064e-01 -2.66392108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.29, Y:-57.22, Z:-2.66 [[ 8.45024576e-01 5.26763641e-01 -9.19430918e-02 1.37294427e+02] [-5.23438865e-01 8.50009833e-01 5.91188550e-02 -5.72172190e+01] [ 1.09294195e-01 -1.83029786e-03 9.94007761e-01 -2.66057267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.33, Y:-57.23, Z:-2.66 [[ 8.44337540e-01 5.26961890e-01 -9.69808491e-02 1.37326893e+02] [-5.24470764e-01 8.49858218e-01 5.16858501e-02 -5.72346369e+01] [ 1.09656445e-01 7.22331652e-03 9.93943302e-01 -2.66384896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:-57.26, Z:-2.65 [[ 8.43814195e-01 5.29660520e-01 -8.62399972e-02 1.37343970e+02] [-5.25471210e-01 8.48129886e-01 6.74959477e-02 -5.72562740e+01] [ 1.08892658e-01 -1.16374031e-02 9.93985392e-01 -2.65030872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:-57.27, Z:-2.65 [[ 8.43393027e-01 5.29393102e-01 -9.18212716e-02 1.37377013e+02] [-5.26405716e-01 8.48376106e-01 5.61694291e-02 -5.72721957e+01] [ 1.07634681e-01 9.62337368e-04 9.94190047e-01 -2.65433284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-57.29, Z:-2.65 [[ 8.43034958e-01 5.30313863e-01 -8.97734145e-02 1.37401850e+02] [-5.27072630e-01 8.47798876e-01 5.85790789e-02 -5.72902874e+01] [ 1.07175098e-01 -2.06710167e-03 9.94238013e-01 -2.65016854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-57.31, Z:-2.65 [[ 8.42663102e-01 5.30430490e-01 -9.25331903e-02 1.37429652e+02] [-5.27532683e-01 8.47725776e-01 5.54100876e-02 -5.73069475e+01] [ 1.07833970e-01 2.12224584e-03 9.94166651e-01 -2.64751450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15361786499997 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:137.46, Y:-57.32, Z:-2.65 [[ 8.43671996e-01 5.26771585e-01 -1.03582140e-01 1.37463488e+02] [-5.25941526e-01 8.49697802e-01 3.74052997e-02 -5.73161941e+01] [ 1.07717566e-01 2.29203450e-02 9.93917292e-01 -2.65437772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:-57.35, Z:-2.63 [[ 8.44215993e-01 5.30259237e-01 -7.82591812e-02 1.37474204e+02] [-5.25021261e-01 8.47461587e-01 7.84954468e-02 -5.73520542e+01] [ 1.07944586e-01 -2.51793776e-02 9.93837998e-01 -2.63118025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21361786499997 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:137.50, Y:-57.36, Z:-2.63 [[ 8.43574888e-01 5.28804275e-01 -9.35277908e-02 1.37504309e+02] [-5.25320413e-01 8.48741403e-01 6.06341091e-02 -5.73586488e+01] [ 1.11444484e-01 -2.01735410e-03 9.93768614e-01 -2.63229299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:-57.38, Z:-2.63 [[ 8.43541174e-01 5.29709250e-01 -8.85798966e-02 1.37523700e+02] [-5.25628034e-01 8.48127642e-01 6.62923309e-02 -5.73771901e+01] [ 1.10242720e-01 -9.36023374e-03 9.93860618e-01 -2.62787959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:-57.39, Z:-2.63 [[ 8.43911790e-01 5.28084401e-01 -9.45502874e-02 1.37557152e+02] [-5.25487395e-01 8.49175260e-01 5.25773240e-02 -5.73907732e+01] [ 1.08055030e-01 5.31436062e-03 9.94130710e-01 -2.63454682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.58, Y:-57.41, Z:-2.63 [[ 8.43381355e-01 5.29939716e-01 -8.87230928e-02 1.37580265e+02] [-5.26140372e-01 8.48005810e-01 6.37373870e-02 -5.74146956e+01] [ 1.09014671e-01 -7.07412278e-03 9.94014969e-01 -2.62529497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:-57.43, Z:-2.62 [[ 8.43027980e-01 5.30023218e-01 -9.15380438e-02 1.37606309e+02] [-5.26408952e-01 8.47973621e-01 6.19221551e-02 -5.74298065e+01] [ 1.10442026e-01 -4.01566359e-03 9.93874455e-01 -2.62061665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:-57.45, Z:-2.62 [[ 8.42785104e-01 5.30128348e-01 -9.31515007e-02 1.37637279e+02] [-5.27272148e-01 8.47912975e-01 5.50242611e-02 -5.74459440e+01] [ 1.08154287e-01 2.74256424e-03 9.94130338e-01 -2.62147979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:-57.47, Z:-2.61 [[ 8.41936379e-01 5.31985149e-01 -9.01938752e-02 1.37659027e+02] [-5.28183611e-01 8.46732046e-01 6.37723676e-02 -5.74664290e+01] [ 1.10295997e-01 -6.05334960e-03 9.93880350e-01 -2.61163325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:137.68, Y:-57.48, Z:-2.61 [[ 8.41831166e-01 5.31784699e-01 -9.23326697e-02 1.37684849e+02] [-5.28445395e-01 8.46878574e-01 5.95159249e-02 -5.74800732e+01] [ 1.09844218e-01 -1.30958637e-03 9.93947953e-01 -2.60927464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:-57.49, Z:-2.61 [[ 8.42276483e-01 5.30894836e-01 -9.33862941e-02 1.37711582e+02] [-5.28092662e-01 8.47431099e-01 5.45772193e-02 -5.74944237e+01] [ 1.08113214e-01 3.34750838e-03 9.94132952e-01 -2.61053496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:-57.52, Z:-2.60 [[ 8.41900864e-01 5.31929818e-01 -9.08493451e-02 1.37736041e+02] [-5.28285878e-01 8.46776646e-01 6.23164649e-02 -5.75174308e+01] [ 1.10077090e-01 -4.46985956e-03 9.93913002e-01 -2.60178638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-57.53, Z:-2.61 [[ 8.43226845e-01 5.28591587e-01 -9.77722963e-02 1.37767831e+02] [-5.26615989e-01 8.48795138e-01 4.71424893e-02 -5.75252538e+01] [ 1.07907773e-01 1.17366420e-02 9.94091627e-01 -2.60878809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:-57.55, Z:-2.60 [[ 8.43214368e-01 5.30133974e-01 -8.91487476e-02 1.37790397e+02] [-5.26712836e-01 8.47905149e-01 6.02531814e-02 -5.75508021e+01] [ 1.07531941e-01 -3.85055854e-03 9.94194174e-01 -2.60079295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:-57.57, Z:-2.59 [[ 8.42344535e-01 5.31380207e-01 -8.99486471e-02 1.37815669e+02] [-5.27371118e-01 8.47097176e-01 6.56207142e-02 -5.75718738e+01] [ 1.11064794e-01 -7.83893144e-03 9.93782251e-01 -2.59064367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-57.59, Z:-2.58 [[ 8.42928038e-01 5.30269847e-01 -9.10286336e-02 1.37838835e+02] [-5.25922849e-01 8.47771811e-01 6.84698063e-02 -5.75884731e+01] [ 1.13478983e-01 -9.84108122e-03 9.93491657e-01 -2.58194983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-57.60, Z:-2.59 [[ 8.43697792e-01 5.27991509e-01 -9.69484452e-02 1.37873322e+02] [-5.25408385e-01 8.49224170e-01 5.25769840e-02 -5.76009502e+01] [ 1.10091164e-01 6.57844061e-03 9.93899723e-01 -2.58854557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:-57.62, Z:-2.58 [[ 8.44692882e-01 5.27240614e-01 -9.22565408e-02 1.37895974e+02] [-5.23672646e-01 8.49708840e-01 6.13339059e-02 -5.76237744e+01] [ 1.10728924e-01 -3.49608690e-03 9.93844496e-01 -2.58112866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69361786499996 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:137.92, Y:-57.64, Z:-2.57 [[ 8.43219941e-01 5.29825403e-01 -9.09130007e-02 1.37917355e+02] [-5.25739396e-01 8.48069111e-01 6.61579237e-02 -5.76434311e+01] [ 1.12152656e-01 -7.98913444e-03 9.93658873e-01 -2.57221886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.94, Y:-57.66, Z:-2.57 [[ 8.43853133e-01 5.30092035e-01 -8.31524156e-02 1.37938138e+02] [-5.26085031e-01 8.47853896e-01 6.61688049e-02 -5.76603673e+01] [ 1.05576656e-01 -1.20915122e-02 9.94337651e-01 -2.57424502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-57.67, Z:-2.58 [[ 8.44671531e-01 5.25837012e-01 -1.00127127e-01 1.37971496e+02] [-5.23684008e-01 8.50511789e-01 4.88339686e-02 -5.76672367e+01] [ 1.10838010e-01 1.11863121e-02 9.93775529e-01 -2.57585321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.00, Y:-57.69, Z:-2.57 [[ 8.44127437e-01 5.26324042e-01 -1.02136541e-01 1.37998236e+02] [-5.23793707e-01 8.50233370e-01 5.23771854e-02 -5.76863737e+01] [ 1.14407268e-01 9.28545822e-03 9.93390536e-01 -2.57167584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81361786499997 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:138.02, Y:-57.71, Z:-2.56 [[ 8.44396221e-01 5.28348332e-01 -8.85610661e-02 1.38016102e+02] [-5.24280226e-01 8.48975760e-01 6.61090290e-02 -5.77104512e+01] [ 1.10114794e-01 -9.39139851e-03 9.93874506e-01 -2.56352790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.04, Y:-57.73, Z:-2.56 [[ 8.44221688e-01 5.29272435e-01 -8.46193279e-02 1.38039477e+02] [-5.24905097e-01 8.48334987e-01 6.92992673e-02 -5.77313192e+01] [ 1.08463728e-01 -1.40868279e-02 9.94000594e-01 -2.56014661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87361786499997 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:138.07, Y:-57.74, Z:-2.57 [[ 8.43336600e-01 5.28532402e-01 -9.71435977e-02 1.38072854e+02] [-5.27192531e-01 8.48751640e-01 4.10936674e-02 -5.77367762e+01] [ 1.04170123e-01 1.65575853e-02 9.94421657e-01 -2.57214193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90361786499997 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:138.08, Y:-57.76, Z:-2.55 [[ 8.43138366e-01 5.30713545e-01 -8.63760895e-02 1.38084949e+02] [-5.26423651e-01 8.47462890e-01 6.84455311e-02 -5.77608796e+01] [ 1.09525501e-01 -1.22386369e-02 9.93908638e-01 -2.55240799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-57.78, Z:-2.56 [[ 8.42256247e-01 5.31614368e-01 -8.93900359e-02 1.38114521e+02] [-5.28470078e-01 8.46985360e-01 5.77509787e-02 -5.77764289e+01] [ 1.06413302e-01 -1.40116330e-03 9.94320997e-01 -2.55724915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.14, Y:-57.80, Z:-2.55 [[ 8.41335323e-01 5.33427438e-01 -8.72355615e-02 1.38140330e+02] [-5.29903014e-01 8.45828048e-01 6.14630758e-02 -5.77970232e+01] [ 1.06572376e-01 -5.48466978e-03 9.94289820e-01 -2.54936995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-57.81, Z:-2.55 [[ 8.39828049e-01 5.34831290e-01 -9.29749399e-02 1.38167752e+02] [-5.32033478e-01 8.44951666e-01 5.47454153e-02 -5.78090167e+01] [ 1.07838891e-01 3.48904533e-03 9.94162260e-01 -2.55070069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.20, Y:-57.83, Z:-2.55 [[ 8.40200391e-01 5.33427483e-01 -9.75624020e-02 1.38199240e+02] [-5.30802330e-01 8.45816919e-01 5.33162896e-02 -5.78281584e+01] [ 1.10960304e-01 6.98998289e-03 9.93800257e-01 -2.54832710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-57.85, Z:-2.54 [[ 8.39774368e-01 5.35813332e-01 -8.76531989e-02 1.38221795e+02] [-5.32220930e-01 8.44318052e-01 6.21925150e-02 -5.78521087e+01] [ 1.07330757e-01 -5.57681293e-03 9.94207729e-01 -2.54127074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:138.24, Y:-57.87, Z:-2.53 [[ 8.39483572e-01 5.36040096e-01 -8.90412703e-02 1.38244422e+02] [-5.32175271e-01 8.44164646e-01 6.46183504e-02 -5.78668797e+01] [ 1.09803519e-01 -6.86048148e-03 9.93929636e-01 -2.53339673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:138.27, Y:-57.88, Z:-2.53 [[ 8.38995945e-01 5.36355867e-01 -9.16961678e-02 1.38272499e+02] [-5.33049123e-01 8.43991316e-01 5.94751250e-02 -5.78837333e+01] [ 1.09290602e-01 -1.02082686e-03 9.94009317e-01 -2.53160639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:138.30, Y:-57.91, Z:-2.53 [[ 8.38192630e-01 5.38053262e-01 -8.90606702e-02 1.38299640e+02] [-5.34504167e-01 8.42900214e-01 6.18427464e-02 -5.79063490e+01] [ 1.08343949e-01 -4.23283498e-03 9.94104457e-01 -2.52788405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:138.33, Y:-57.92, Z:-2.53 [[ 8.37704172e-01 5.38504901e-01 -9.09076074e-02 1.38327667e+02] [-5.35465589e-01 8.42621986e-01 5.71383581e-02 -5.79224253e+01] [ 1.07370035e-01 8.12854607e-04 9.94218796e-01 -2.52724592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.35, Y:-57.94, Z:-2.53 [[ 8.38779067e-01 5.37083136e-01 -8.93945271e-02 1.38354310e+02] [-5.34199915e-01 8.43528560e-01 5.55879400e-02 -5.79399000e+01] [ 1.05262182e-01 1.12854835e-03 9.94443864e-01 -2.52680489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23361786499999 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:138.37, Y:-57.96, Z:-2.52 [[ 8.37812356e-01 5.38647711e-01 -8.90454865e-02 1.38374892e+02] [-5.35068021e-01 8.42519455e-01 6.21544851e-02 -5.79584037e+01] [ 1.08501926e-01 -4.42840335e-03 9.94086375e-01 -2.51717168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:138.40, Y:-57.97, Z:-2.52 [[ 8.38802090e-01 5.37045462e-01 -8.94048382e-02 1.38402678e+02] [-5.34000319e-01 8.43553286e-01 5.71096626e-02 -5.79747415e+01] [ 1.06088230e-01 -1.61492251e-04 9.94356707e-01 -2.51946176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:-57.99, Z:-2.52 [[ 8.38474934e-01 5.37917430e-01 -8.72044913e-02 1.38425428e+02] [-5.34783224e-01 8.42995133e-01 5.80181836e-02 -5.79919288e+01] [ 1.04721954e-01 -2.01129367e-03 9.94499506e-01 -2.51632746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.45, Y:-58.01, Z:-2.51 [[ 8.39369640e-01 5.35810645e-01 -9.14634297e-02 1.38453719e+02] [-5.32499277e-01 8.44337278e-01 5.94901746e-02 -5.80082134e+01] [ 1.09101452e-01 -1.23003625e-03 9.94029859e-01 -2.50892185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35361786499996 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:138.48, Y:-58.02, Z:-2.51 [[ 8.38585598e-01 5.35894693e-01 -9.79340211e-02 1.38480629e+02] [-5.33212286e-01 8.44256335e-01 5.39990619e-02 -5.80220286e+01] [ 1.11619228e-01 6.93678773e-03 9.93726838e-01 -2.50785433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-58.05, Z:-2.50 [[ 8.39895231e-01 5.35874587e-01 -8.61070752e-02 1.38501395e+02] [-5.31990973e-01 8.44251938e-01 6.49943886e-02 -5.80456610e+01] [ 1.07524906e-01 -8.78029033e-03 9.94163619e-01 -2.50304497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:-58.06, Z:-2.50 [[ 8.41168771e-01 5.32879615e-01 -9.20565829e-02 1.38533001e+02] [-5.29939365e-01 8.46189276e-01 5.59283360e-02 -5.80604481e+01] [ 1.07700363e-01 1.73923735e-03 9.94181878e-01 -2.50457593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-58.08, Z:-2.50 [[ 8.41117095e-01 5.33713916e-01 -8.75870320e-02 1.38553608e+02] [-5.30067999e-01 8.45642254e-01 6.25867035e-02 -5.80797606e+01] [ 1.07470690e-01 -6.21566343e-03 9.94188823e-01 -2.49795463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47361786499997 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:138.59, Y:-58.08, Z:-2.51 [[ 8.40718630e-01 5.30023771e-01 -1.10756433e-01 1.38588310e+02] [-5.30001053e-01 8.47389389e-01 3.20952917e-02 -5.80802283e+01] [ 1.10865094e-01 3.17179167e-02 9.93329203e-01 -2.51003690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:-58.12, Z:-2.48 [[ 8.42140786e-01 5.32578843e-01 -8.46089450e-02 1.38600921e+02] [-5.27308765e-01 8.46127419e-01 7.75490572e-02 -5.81195485e+01] [ 1.12890935e-01 -2.06921857e-02 9.93391902e-01 -2.48324449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:138.63, Y:-58.13, Z:-2.48 [[ 8.42322152e-01 5.31063016e-01 -9.20079649e-02 1.38630129e+02] [-5.26984142e-01 8.47301926e-01 6.60844950e-02 -5.81307016e+01] [ 1.13053557e-01 -7.17769562e-03 9.93562969e-01 -2.48419575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:138.66, Y:-58.15, Z:-2.48 [[ 8.43666911e-01 5.29309364e-01 -8.97649245e-02 1.38657754e+02] [-5.25485523e-01 8.48402380e-01 6.38620942e-02 -5.81484512e+01] [ 1.09959580e-01 -6.70816740e-03 9.93913422e-01 -2.48120972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:138.69, Y:-58.16, Z:-2.48 [[ 8.43564972e-01 5.29060908e-01 -9.21558146e-02 1.38686174e+02] [-5.25612051e-01 8.48580226e-01 6.03620071e-02 -5.81642966e+01] [ 1.10136780e-01 -2.48106804e-03 9.93913343e-01 -2.47903822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:138.71, Y:-58.18, Z:-2.48 [[ 8.43736983e-01 5.28716442e-01 -9.25571563e-02 1.38714290e+02] [-5.25314790e-01 8.48796332e-01 5.99095871e-02 -5.81824085e+01] [ 1.10237358e-01 -1.92629114e-03 9.93903423e-01 -2.47558263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.74, Y:-58.20, Z:-2.47 [[ 8.43604490e-01 5.29284473e-01 -9.04953670e-02 1.38738922e+02] [-5.25745327e-01 8.48434585e-01 6.12421869e-02 -5.82001504e+01] [ 1.09193938e-01 -4.08666751e-03 9.94012064e-01 -2.47045942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.77, Y:-58.22, Z:-2.46 [[ 8.42849408e-01 5.29765158e-01 -9.46242727e-02 1.38766014e+02] [-5.25757806e-01 8.48128154e-01 6.52484743e-02 -5.82210511e+01] [ 1.14819878e-01 -5.24518787e-03 9.93372480e-01 -2.46146728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-58.24, Z:-2.45 [[ 8.43550470e-01 5.30274167e-01 -8.50406546e-02 1.38788478e+02] [-5.25332797e-01 8.47632108e-01 7.44665219e-02 -5.82441588e+01] [ 1.11570862e-01 -1.81416247e-02 9.93590874e-01 -2.45041765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:-58.25, Z:-2.46 [[ 8.43611244e-01 5.27280382e-01 -1.01466580e-01 1.38823040e+02] [-5.24377132e-01 8.49668065e-01 5.56129660e-02 -5.82515295e+01] [ 1.15536538e-01 6.29103060e-03 9.93283309e-01 -2.45540249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:-58.27, Z:-2.45 [[ 8.44448144e-01 5.27743014e-01 -9.16222887e-02 1.38846408e+02] [-5.23750857e-01 8.49374858e-01 6.51720121e-02 -5.82748476e+01] [ 1.12215742e-01 -7.04713239e-03 9.93658878e-01 -2.44756591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:138.87, Y:-58.29, Z:-2.45 [[ 8.44414409e-01 5.27896343e-01 -9.10481007e-02 1.38872085e+02] [-5.24218363e-01 8.49294288e-01 6.24044856e-02 -5.82895343e+01] [ 1.10269732e-01 -4.96616060e-03 9.93889291e-01 -2.44504590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.90, Y:-58.30, Z:-2.44 [[ 8.45131378e-01 5.26286244e-01 -9.36789409e-02 1.38901221e+02] [-5.23039588e-01 8.50307403e-01 5.83687364e-02 -5.83040821e+01] [ 1.10374560e-01 -3.31455993e-04 9.93890007e-01 -2.44407217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:138.93, Y:-58.32, Z:-2.44 [[ 8.44931155e-01 5.26909706e-01 -9.19646928e-02 1.38927682e+02] [-5.23392339e-01 8.49914872e-01 6.08701139e-02 -5.83229249e+01] [ 1.10235214e-01 -3.29743997e-03 9.93900058e-01 -2.43927229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:-58.33, Z:-2.44 [[ 8.44782062e-01 5.26113652e-01 -9.77123000e-02 1.38959180e+02] [-5.23533996e-01 8.50386914e-01 5.24809712e-02 -5.83346311e+01] [ 1.10704217e-01 6.82072790e-03 9.93829993e-01 -2.44134178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:-58.36, Z:-2.43 [[ 8.43924311e-01 5.28995298e-01 -8.91949107e-02 1.38979855e+02] [-5.25265905e-01 8.48601105e-01 6.30229613e-02 -5.83553234e+01] [ 1.09029750e-01 -6.33556372e-03 9.94018297e-01 -2.43393337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:139.01, Y:-58.37, Z:-2.43 [[ 8.42351663e-01 5.30086634e-01 -9.72205530e-02 1.39008087e+02] [-5.26322762e-01 8.47941194e-01 6.30878864e-02 -5.83717133e+01] [ 1.15879357e-01 -1.97279606e-03 9.93261337e-01 -2.43371630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:-58.39, Z:-2.43 [[ 8.42923351e-01 5.29907485e-01 -9.31572895e-02 1.39036112e+02] [-5.26448012e-01 8.48053237e-01 6.04830324e-02 -5.83880118e+01] [ 1.11052753e-01 -1.94009046e-03 9.93812619e-01 -2.42790398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.07, Y:-58.40, Z:-2.43 [[ 8.43459262e-01 5.28211457e-01 -9.78219296e-02 1.39069463e+02] [-5.25956326e-01 8.49059219e-01 4.96828613e-02 -5.83982805e+01] [ 1.09299668e-01 9.54459315e-03 9.93963019e-01 -2.43255462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:-58.42, Z:-2.43 [[ 8.43132391e-01 5.28330924e-01 -9.99710261e-02 1.39097688e+02] [-5.25883278e-01 8.48990115e-01 5.16000188e-02 -5.84158365e+01] [ 1.12136299e-01 9.06744369e-03 9.93651464e-01 -2.42957710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.12, Y:-58.44, Z:-2.42 [[ 8.42630553e-01 5.31265246e-01 -8.79260450e-02 1.39117655e+02] [-5.27312886e-01 8.47161680e-01 6.52549526e-02 -5.84386592e+01] [ 1.09155264e-01 -8.62128031e-03 9.93987325e-01 -2.41937325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:139.14, Y:-58.46, Z:-2.41 [[ 8.42923588e-01 5.32083335e-01 -7.97944183e-02 1.39141863e+02] [-5.27142382e-01 8.46417194e-01 7.54906782e-02 -5.84625938e+01] [ 1.07706699e-01 -2.15698536e-02 9.93948695e-01 -2.40740524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:-58.46, Z:-2.42 [[ 8.40316704e-01 5.30487302e-01 -1.11584316e-01 1.39175541e+02] [-5.29137947e-01 8.47402188e-01 4.38470603e-02 -5.84585541e+01] [ 1.17817102e-01 2.21980785e-02 9.92787175e-01 -2.42337154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:-58.49, Z:-2.40 [[ 8.41407855e-01 5.33295786e-01 -8.73408639e-02 1.39197720e+02] [-5.28572454e-01 8.45801251e-01 7.23284461e-02 -5.84929139e+01] [ 1.12445467e-01 -1.46917479e-02 9.93549279e-01 -2.40200471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.22, Y:-58.51, Z:-2.40 [[ 8.40125264e-01 5.35347852e-01 -8.71333346e-02 1.39223357e+02] [-5.31115473e-01 8.44561300e-01 6.80629423e-02 -5.85067402e+01] [ 1.10026792e-01 -1.09035352e-02 9.93868813e-01 -2.39914988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-58.52, Z:-2.40 [[ 8.40419945e-01 5.33975448e-01 -9.25447882e-02 1.39252618e+02] [-5.30921424e-01 8.45499137e-01 5.70407825e-02 -5.85167929e+01] [ 1.08704916e-01 1.19579945e-03 9.94073343e-01 -2.40233673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:-58.54, Z:-2.40 [[ 8.40908045e-01 5.33670582e-01 -8.98296664e-02 1.39280392e+02] [-5.30209244e-01 8.45685265e-01 6.07831360e-02 -5.85374347e+01] [ 1.08405797e-01 -3.48450862e-03 9.94100619e-01 -2.39636339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:-58.56, Z:-2.39 [[ 8.42062736e-01 5.31684165e-01 -9.07870973e-02 1.39309899e+02] [-5.28377410e-01 8.46940550e-01 5.92369661e-02 -5.85551257e+01] [ 1.08386631e-01 -1.91139045e-03 9.94106979e-01 -2.39246768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.34, Y:-58.57, Z:-2.39 [[ 8.42585096e-01 5.30479680e-01 -9.29605582e-02 1.39338752e+02] [-5.27451253e-01 8.47696614e-01 5.66182496e-02 -5.85710882e+01] [ 1.08837181e-01 1.32646966e-03 9.94058705e-01 -2.39175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.36, Y:-58.59, Z:-2.38 [[ 8.42278388e-01 5.31626907e-01 -8.91063871e-02 1.39359964e+02] [-5.27740552e-01 8.46946539e-01 6.45869200e-02 -5.85881106e+01] [ 1.09804491e-01 -7.37511291e-03 9.93925843e-01 -2.38268873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:-58.61, Z:-2.38 [[ 8.41556381e-01 5.32160257e-01 -9.26731817e-02 1.39388999e+02] [-5.28959252e-01 8.46643644e-01 5.82807808e-02 -5.86059649e+01] [ 1.09475876e-01 -2.62260525e-05 9.93989453e-01 -2.38231477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.42, Y:-58.62, Z:-2.38 [[ 8.41501097e-01 5.31262898e-01 -9.81612758e-02 1.39421235e+02] [-5.28412932e-01 8.47189795e-01 5.52197824e-02 -5.86233949e+01] [ 1.12497453e-01 5.40218006e-03 9.93637328e-01 -2.38098317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.44, Y:-58.65, Z:-2.37 [[ 8.41302082e-01 5.33555164e-01 -8.67738072e-02 1.39438730e+02] [-5.29409866e-01 8.45698633e-01 6.72236349e-02 -5.86450032e+01] [ 1.09252008e-01 -1.06164744e-02 9.93957388e-01 -2.37054886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.47, Y:-58.66, Z:-2.37 [[ 8.41539091e-01 5.33223577e-01 -8.65134426e-02 1.39468737e+02] [-5.29239392e-01 8.45920422e-01 6.57594524e-02 -5.86640229e+01] [ 1.08247978e-01 -9.55282798e-03 9.94078024e-01 -2.36719107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-58.67, Z:-2.37 [[ 8.40813159e-01 5.32176999e-01 -9.91003170e-02 1.39499410e+02] [-5.29625402e-01 8.46593571e-01 5.26902280e-02 -5.86723263e+01] [ 1.11938219e-01 8.18340812e-03 9.93681472e-01 -2.37134337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-58.69, Z:-2.36 [[ 8.41351037e-01 5.31176234e-01 -9.99011568e-02 1.39528701e+02] [-5.27975261e-01 8.47253453e-01 5.83413224e-02 -5.86933515e+01] [ 1.15631124e-01 3.65980724e-03 9.93285482e-01 -2.36473141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.56, Y:-58.71, Z:-2.36 [[ 8.41797514e-01 5.31215311e-01 -9.58500848e-02 1.39555095e+02] [-5.27482261e-01 8.47233458e-01 6.29120932e-02 -5.87136048e+01] [ 1.14627266e-01 -2.40002419e-03 9.93405672e-01 -2.35999005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.58, Y:-58.73, Z:-2.36 [[ 8.41349772e-01 5.31769798e-01 -9.67028655e-02 1.39582781e+02] [-5.28096621e-01 8.46887717e-01 6.24111680e-02 -5.87307026e+01] [ 1.15084843e-01 -1.44116543e-03 9.93354620e-01 -2.35730232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:-58.75, Z:-2.35 [[ 8.41787374e-01 5.32572649e-01 -8.80930732e-02 1.39603954e+02] [-5.28281085e-01 8.46312651e-01 6.83665974e-02 -5.87475858e+01] [ 1.10964462e-01 -1.10122343e-02 9.93763362e-01 -2.35316963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:-58.77, Z:-2.35 [[ 8.42368088e-01 5.31813942e-01 -8.71202377e-02 1.39634212e+02] [-5.27758602e-01 8.46803811e-01 6.62884846e-02 -5.87668343e+01] [ 1.09026890e-01 -9.86084908e-03 9.93989890e-01 -2.34925751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:-58.78, Z:-2.35 [[ 8.42178331e-01 5.31375656e-01 -9.15181410e-02 1.39661816e+02] [-5.28221591e-01 8.47136230e-01 5.78113994e-02 -5.87783194e+01] [ 1.08247903e-01 -3.45649847e-04 9.94123872e-01 -2.35028815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.69, Y:-58.80, Z:-2.35 [[ 8.42431122e-01 5.30878775e-01 -9.20735098e-02 1.39690581e+02] [-5.27446387e-01 8.47444797e-01 6.03127177e-02 -5.87971542e+01] [ 1.10045959e-01 -2.24547030e-03 9.93923963e-01 -2.34628771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:-58.82, Z:-2.34 [[ 8.41534055e-01 5.33821805e-01 -8.27932048e-02 1.39708872e+02] [-5.29692028e-01 8.45497451e-01 6.75308540e-02 -5.88150598e+01] [ 1.06050886e-01 -1.29746129e-02 9.94276053e-01 -2.34081031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.75, Y:-58.83, Z:-2.35 [[ 8.42159486e-01 5.29868074e-01 -1.00036115e-01 1.39748636e+02] [-5.27914656e-01 8.47980511e-01 4.72775746e-02 -5.88251532e+01] [ 1.09879553e-01 1.29952732e-02 9.93859953e-01 -2.34568618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.77, Y:-58.85, Z:-2.34 [[ 8.41492872e-01 5.31788424e-01 -9.53457844e-02 1.39770904e+02] [-5.28666159e-01 8.46874985e-01 5.75747481e-02 -5.88467094e+01] [ 1.11363544e-01 1.95734947e-03 9.93777807e-01 -2.33805685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:-58.87, Z:-2.33 [[ 8.41674620e-01 5.32218752e-01 -9.12525806e-02 1.39794836e+02] [-5.28600277e-01 8.46597329e-01 6.20863160e-02 -5.88657710e+01] [ 1.10297693e-01 -4.02033708e-03 9.93890465e-01 -2.33293266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:-58.89, Z:-2.33 [[ 8.41958429e-01 5.32373073e-01 -8.76636489e-02 1.39821441e+02] [-5.28229402e-01 8.46448849e-01 6.70674601e-02 -5.88876554e+01] [ 1.09907705e-01 -1.01614965e-02 9.93889853e-01 -2.32539559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:-58.90, Z:-2.33 [[ 8.41405734e-01 5.32856565e-01 -9.00015108e-02 1.39848094e+02] [-5.29541395e-01 8.46202417e-01 5.93917442e-02 -5.89000629e+01] [ 1.07806777e-01 -2.31302849e-03 9.94169175e-01 -2.32647530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:-58.92, Z:-2.32 [[ 8.41875954e-01 5.31874033e-01 -9.14050933e-02 1.39876637e+02] [-5.28518104e-01 8.46821265e-01 5.96855049e-02 -5.89193376e+01] [ 1.09148947e-01 -1.93854480e-03 9.94023516e-01 -2.32160488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-58.94, Z:-2.32 [[ 8.41415419e-01 5.32889084e-01 -8.97179892e-02 1.39902382e+02] [-5.29122938e-01 8.46163976e-01 6.35251332e-02 -5.89399737e+01] [ 1.09767980e-01 -5.97918050e-03 9.93939254e-01 -2.31527532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-58.96, Z:-2.31 [[ 8.40618680e-01 5.33777071e-01 -9.18818469e-02 1.39929893e+02] [-5.30193919e-01 8.45618949e-01 6.18304274e-02 -5.89585239e+01] [ 1.10700695e-01 -3.26061578e-03 9.93848441e-01 -2.31104685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:-58.98, Z:-2.31 [[ 8.39958709e-01 5.34983724e-01 -9.08943487e-02 1.39955493e+02] [-5.31027759e-01 8.44836927e-01 6.52693377e-02 -5.89782077e+01] [ 1.11708936e-01 -6.55612633e-03 9.93719342e-01 -2.30518841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:-59.00, Z:-2.30 [[ 8.39343153e-01 5.35643630e-01 -9.26767094e-02 1.39984059e+02] [-5.31954336e-01 8.44437064e-01 6.28540350e-02 -5.89952691e+01] [ 1.11927012e-01 -3.45632656e-03 9.93710420e-01 -2.30220950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.01, Y:-59.00, Z:-2.30 [[ 8.39664965e-01 5.34638496e-01 -9.55218557e-02 1.40011000e+02] [-5.31783178e-01 8.45069823e-01 5.53502192e-02 -5.90046064e+01] [ 1.10314996e-01 4.32127605e-03 9.93887282e-01 -2.30255497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.03, Y:-59.04, Z:-2.29 [[ 8.36739279e-01 5.40491418e-01 -8.79568403e-02 1.40034183e+02] [-5.35875673e-01 8.41251996e-01 7.16403610e-02 -5.90352871e+01] [ 1.12714868e-01 -1.28103730e-02 9.93544792e-01 -2.29141799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:-59.05, Z:-2.29 [[ 8.34521081e-01 5.45142075e-01 -7.99667641e-02 1.40049258e+02] [-5.40484206e-01 8.38150575e-01 7.33514650e-02 -5.90484132e+01] [ 1.07011159e-01 -1.79925709e-02 9.94095005e-01 -2.28695104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:-59.05, Z:-2.30 [[ 8.36858482e-01 5.35208717e-01 -1.14976129e-01 1.40102104e+02] [-5.35212848e-01 8.44054082e-01 3.34651244e-02 -5.90479422e+01] [ 1.14956897e-01 3.35311282e-02 9.92804399e-01 -2.29868436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.12, Y:-59.08, Z:-2.28 [[ 8.36116033e-01 5.40055435e-01 -9.61774742e-02 1.40116925e+02] [-5.36374559e-01 8.41628792e-01 6.29548189e-02 -5.90805586e+01] [ 1.14944824e-01 -1.05038309e-03 9.93371322e-01 -2.28283003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21361786499997 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:140.14, Y:-59.09, Z:-2.28 [[ 8.35313432e-01 5.40279468e-01 -1.01732819e-01 1.40142722e+02] [-5.37162706e-01 8.41464373e-01 5.82575053e-02 -5.90933646e+01] [ 1.17079877e-01 5.98379959e-03 9.93104474e-01 -2.28183585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-59.12, Z:-2.27 [[ 8.34578752e-01 5.44379913e-01 -8.44323215e-02 1.40157370e+02] [-5.39529281e-01 8.38676293e-01 7.43655174e-02 -5.91194010e+01] [ 1.11294480e-01 -1.65101709e-02 9.93650317e-01 -2.27412011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.19, Y:-59.13, Z:-2.28 [[ 8.35127493e-01 5.41296826e-01 -9.77743193e-02 1.40193207e+02] [-5.38173198e-01 8.40822018e-01 5.82060419e-02 -5.91300951e+01] [ 1.13717546e-01 4.01005226e-03 9.93505027e-01 -2.27807616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.22, Y:-59.14, Z:-2.28 [[ 8.33806470e-01 5.40984771e-01 -1.10010216e-01 1.40220622e+02] [-5.39062266e-01 8.40832299e-01 4.91214661e-02 -5.91405587e+01] [ 1.19074108e-01 1.83445603e-02 9.92715888e-01 -2.28107645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-59.18, Z:-2.26 [[ 8.34658689e-01 5.44052413e-01 -8.57428934e-02 1.40237302e+02] [-5.38518897e-01 8.38795942e-01 8.01171918e-02 -5.91777260e+01] [ 1.15508743e-01 -2.06963419e-02 9.93090828e-01 -2.26158626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:-59.18, Z:-2.27 [[ 8.33647604e-01 5.43039165e-01 -1.00698251e-01 1.40267921e+02] [-5.39697526e-01 8.39697425e-01 6.02894233e-02 -5.91829890e+01] [ 1.17295580e-01 4.08646341e-03 9.93088640e-01 -2.26761262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:-59.21, Z:-2.26 [[ 8.34781953e-01 5.42557489e-01 -9.36507442e-02 1.40293851e+02] [-5.38239630e-01 8.39990240e-01 6.86621973e-02 -5.92084825e+01] [ 1.15918900e-01 -6.91142132e-03 9.93234635e-01 -2.25894334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:-59.22, Z:-2.26 [[ 8.35014385e-01 5.41666371e-01 -9.66877448e-02 1.40322075e+02] [-5.37869976e-01 8.40592289e-01 6.40350822e-02 -5.92237311e+01] [ 1.15960623e-01 -1.46477973e-03 9.93252731e-01 -2.25710676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:-59.24, Z:-2.25 [[ 8.34907375e-01 5.41872752e-01 -9.64551441e-02 1.40348327e+02] [-5.37932478e-01 8.40456466e-01 6.52807617e-02 -5.92428879e+01] [ 1.16440216e-01 -2.61703470e-03 9.93194255e-01 -2.25261766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:-59.26, Z:-2.25 [[ 8.34958658e-01 5.41757629e-01 -9.66576970e-02 1.40376333e+02] [-5.37876071e-01 8.40532156e-01 6.47690351e-02 -5.92608651e+01] [ 1.16333021e-01 -2.08960435e-03 9.93208066e-01 -2.24896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-59.27, Z:-2.25 [[ 8.35689089e-01 5.39442483e-01 -1.03080324e-01 1.40405653e+02] [-5.36674365e-01 8.41973464e-01 5.53291308e-02 -5.92738689e+01] [ 1.16637781e-01 9.08261631e-03 9.93132989e-01 -2.25077049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-59.30, Z:-2.23 [[ 8.34305597e-01 5.45507059e-01 -7.97259068e-02 1.40411861e+02] [-5.39684185e-01 8.37670554e-01 8.39584576e-02 -5.93027156e+01] [ 1.12583976e-01 -2.70202000e-02 9.93274764e-01 -2.23394665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.46, Y:-59.31, Z:-2.25 [[ 8.35737909e-01 5.38989664e-01 -1.05034704e-01 1.40457613e+02] [-5.36847302e-01 8.42187912e-01 5.01447359e-02 -5.93067799e+01] [ 1.15486452e-01 1.44797407e-02 9.93203512e-01 -2.24521652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60361786499996 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:140.49, Y:-59.32, Z:-2.25 [[ 8.35604806e-01 5.37106670e-01 -1.15243362e-01 1.40489601e+02] [-5.36651116e-01 8.42965666e-01 3.76093733e-02 -5.93195061e+01] [ 1.17346443e-01 3.04189060e-02 9.92625056e-01 -2.24882657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:-59.36, Z:-2.22 [[ 8.35756393e-01 5.43228099e-01 -8.00904733e-02 1.40492997e+02] [-5.36710485e-01 8.38971902e-01 8.98220659e-02 -5.93620145e+01] [ 1.15987527e-01 -3.20839690e-02 9.92732347e-01 -2.21925858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.52, Y:-59.37, Z:-2.22 [[ 8.35887384e-01 5.42098167e-01 -8.61502132e-02 1.40524639e+02] [-5.37007123e-01 8.40135588e-01 7.61284674e-02 -5.93749635e+01] [ 1.13646963e-01 -1.73715474e-02 9.93369316e-01 -2.21909039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.55, Y:-59.39, Z:-2.21 [[ 8.35361263e-01 5.41962962e-01 -9.19114157e-02 1.40551912e+02] [-5.36865025e-01 8.40291559e-01 7.54058382e-02 -5.93925522e+01] [ 1.18099558e-01 -1.36470917e-02 9.92907977e-01 -2.21443778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.59, Y:-59.40, Z:-2.22 [[ 8.35730990e-01 5.39056008e-01 -1.04748906e-01 1.40585447e+02] [-5.36405517e-01 8.42202162e-01 5.44485058e-02 -5.94005303e+01] [ 1.17570549e-01 1.06835876e-02 9.93007063e-01 -2.22066727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:-59.42, Z:-2.22 [[ 8.36525535e-01 5.39087287e-01 -9.80302328e-02 1.40608290e+02] [-5.35549700e-01 8.42249403e-01 6.16641049e-02 -5.94210298e+01] [ 1.15808240e-01 9.16463491e-04 9.93271167e-01 -2.21522839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:-59.44, Z:-2.21 [[ 8.36579971e-01 5.39169564e-01 -9.71088758e-02 1.40635212e+02] [-5.35498814e-01 8.42197059e-01 6.28103034e-02 -5.94400127e+01] [ 1.15650213e-01 -5.44153931e-04 9.93289853e-01 -2.21170506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.66, Y:-59.46, Z:-2.21 [[ 8.36143099e-01 5.40265690e-01 -9.47507347e-02 1.40660795e+02] [-5.36115618e-01 8.41478055e-01 6.70427264e-02 -5.94575367e+01] [ 1.15951549e-01 -5.25996436e-03 9.93240943e-01 -2.20634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:-59.47, Z:-2.21 [[ 8.36560897e-01 5.39874310e-01 -9.32823415e-02 1.40688618e+02] [-5.36326407e-01 8.41743963e-01 6.18149269e-02 -5.94726833e+01] [ 1.11892139e-01 -1.68216760e-03 9.93718934e-01 -2.20549390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:-59.49, Z:-2.21 [[ 8.36496141e-01 5.38653325e-01 -1.00632008e-01 1.40719053e+02] [-5.35882597e-01 8.42491230e-01 5.51214110e-02 -5.94860953e+01] [ 1.14472915e-01 7.81809389e-03 9.93395606e-01 -2.20708155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:-59.51, Z:-2.20 [[ 8.36764682e-01 5.39165128e-01 -9.55292232e-02 1.40743255e+02] [-5.35578444e-01 8.42199701e-01 6.20918160e-02 -5.95073876e+01] [ 1.13932425e-01 -7.92845918e-04 9.93488185e-01 -2.20057447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:-59.53, Z:-2.19 [[ 8.37433844e-01 5.39306827e-01 -8.86154818e-02 1.40765919e+02] [-5.35204466e-01 8.42065006e-01 6.69530136e-02 -5.95276731e+01] [ 1.10728213e-01 -8.64131795e-03 9.93813157e-01 -2.19354277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:-59.54, Z:-2.19 [[ 8.37367999e-01 5.38062798e-01 -9.64534036e-02 1.40796825e+02] [-5.34803399e-01 8.42902294e-01 5.91696548e-02 -5.95417952e+01] [ 1.13137785e-01 2.03683258e-03 9.93577220e-01 -2.19305834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.82, Y:-59.56, Z:-2.19 [[ 8.37615369e-01 5.37431332e-01 -9.78164391e-02 1.40824523e+02] [-5.34172709e-01 8.43303185e-01 5.91545041e-02 -5.95590112e+01] [ 1.14280399e-01 2.70215048e-03 9.93444860e-01 -2.19018204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:140.85, Y:-59.58, Z:-2.18 [[ 8.37277745e-01 5.39060460e-01 -9.15412362e-02 1.40846812e+02] [-5.34418723e-01 8.42196810e-01 7.14224197e-02 -5.95825020e+01] [ 1.15596740e-01 -1.08790520e-02 9.93236649e-01 -2.17892606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:-59.59, Z:-2.18 [[ 8.37591957e-01 5.37252265e-01 -9.89935219e-02 1.40880173e+02] [-5.34083740e-01 8.43412318e-01 5.83970941e-02 -5.95925753e+01] [ 1.14866327e-01 3.95789409e-03 9.93373073e-01 -2.18267141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.90, Y:-59.62, Z:-2.17 [[ 8.36186344e-01 5.41811196e-01 -8.50472000e-02 1.40895611e+02] [-5.36197506e-01 8.40212326e-01 8.08423251e-02 -5.96200671e+01] [ 1.15258983e-01 -2.19971517e-02 9.93091885e-01 -2.16942732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.94, Y:-59.62, Z:-2.18 [[ 8.37820525e-01 5.36505780e-01 -1.01085682e-01 1.40935586e+02] [-5.34102487e-01 8.43830349e-01 5.18157819e-02 -5.96240988e+01] [ 1.13098633e-01 1.05777887e-02 9.93527458e-01 -2.17705136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-59.65, Z:-2.17 [[ 8.37928294e-01 5.37056928e-01 -9.71906900e-02 1.40959146e+02] [-5.33277912e-01 8.43544710e-01 6.36159640e-02 -5.96475365e+01] [ 1.16150087e-01 -1.47596799e-03 9.93230577e-01 -2.16786968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.99, Y:-59.66, Z:-2.17 [[ 8.38724755e-01 5.35451682e-01 -9.91578603e-02 1.40985086e+02] [-5.32096746e-01 8.44562095e-01 5.98992495e-02 -5.96592405e+01] [ 1.15818124e-01 2.52259136e-03 9.93267234e-01 -2.16588583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:-59.69, Z:-2.16 [[ 8.38839411e-01 5.37050721e-01 -8.90222761e-02 1.41009198e+02] [-5.32554923e-01 8.43470696e-01 7.03024818e-02 -5.96855239e+01] [ 1.12843680e-01 -1.15632411e-02 9.93545467e-01 -2.15731206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.04, Y:-59.70, Z:-2.16 [[ 8.39302753e-01 5.34647669e-01 -9.86040470e-02 1.41041972e+02] [-5.31002801e-01 8.45075066e-01 6.23230093e-02 -5.96983751e+01] [ 1.16648673e-01 5.11518687e-05 9.93173240e-01 -2.15674284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.07, Y:-59.72, Z:-2.15 [[ 8.39759764e-01 5.34404293e-01 -9.59978637e-02 1.41068819e+02] [-5.30377193e-01 8.45218623e-01 6.56164003e-02 -5.97177044e+01] [ 1.16204868e-01 -4.18693537e-03 9.93216441e-01 -2.15187326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-59.74, Z:-2.15 [[ 8.39636249e-01 5.35286661e-01 -9.20823536e-02 1.41092596e+02] [-5.30875233e-01 8.44620183e-01 6.91970630e-02 -5.97356736e+01] [ 1.14814879e-01 -9.21612147e-03 9.93344153e-01 -2.14581471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-59.75, Z:-2.15 [[ 8.40070270e-01 5.33218515e-01 -9.97995891e-02 1.41124327e+02] [-5.29741497e-01 8.45975689e-01 6.08200720e-02 -5.97493080e+01] [ 1.16858415e-01 1.77484938e-03 9.93146999e-01 -2.14576069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.15, Y:-59.77, Z:-2.14 [[ 8.40847715e-01 5.33115579e-01 -9.36103576e-02 1.41147567e+02] [-5.28538447e-01 8.45986780e-01 7.03809536e-02 -5.97707222e+01] [ 1.16714308e-01 -9.70299095e-03 9.93118131e-01 -2.13819630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.18, Y:-59.78, Z:-2.14 [[ 8.41510683e-01 5.31030445e-01 -9.93299354e-02 1.41180347e+02] [-5.28103366e-01 8.47335639e-01 5.59387976e-02 -5.97809089e+01] [ 1.13870999e-01 5.38337742e-03 9.93480958e-01 -2.14043027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41361786499996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:141.20, Y:-59.80, Z:-2.14 [[ 8.41968451e-01 5.31588353e-01 -9.22114451e-02 1.41203730e+02] [-5.28089927e-01 8.46998807e-01 6.09430161e-02 -5.97991204e+01] [ 1.10499582e-01 -2.61616156e-03 9.93872727e-01 -2.13537678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:-59.81, Z:-2.13 [[ 8.41011721e-01 5.32943952e-01 -9.31129856e-02 1.41228958e+02] [-5.29727417e-01 8.46150530e-01 5.84648977e-02 -5.98132340e+01] [ 1.09946116e-01 1.54837107e-04 9.93937537e-01 -2.13241930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-59.83, Z:-2.13 [[ 8.40521455e-01 5.33608209e-01 -9.37334682e-02 1.41257144e+02] [-5.30184745e-01 8.45731168e-01 6.03566726e-02 -5.98282925e+01] [ 1.11480131e-01 -1.03502334e-03 9.93766124e-01 -2.12966236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-59.85, Z:-2.13 [[ 8.40831704e-01 5.33278834e-01 -9.28209596e-02 1.41286282e+02] [-5.29821304e-01 8.45937566e-01 6.06549328e-02 -5.98458507e+01] [ 1.10866728e-01 -1.82206864e-03 9.93833612e-01 -2.12666215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:-59.86, Z:-2.12 [[ 8.38146100e-01 5.37649897e-01 -9.18896298e-02 1.41310527e+02] [-5.33879209e-01 8.43157004e-01 6.37122996e-02 -5.98612588e+01] [ 1.11732296e-01 -4.34225259e-03 9.93728856e-01 -2.12019679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.34, Y:-59.89, Z:-2.11 [[ 8.38258947e-01 5.37997698e-01 -8.87717005e-02 1.41336905e+02] [-5.33043023e-01 8.42812268e-01 7.43815564e-02 -5.98851093e+01] [ 1.14834984e-01 -1.50318695e-02 9.93270844e-01 -2.10954201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:-59.89, Z:-2.11 [[ 8.38035472e-01 5.36348401e-01 -1.00134605e-01 1.41371301e+02] [-5.33097247e-01 8.43987849e-01 5.90917661e-02 -5.98944991e+01] [ 1.16206165e-01 3.86048637e-03 9.93217612e-01 -2.11362508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.39, Y:-59.91, Z:-2.10 [[ 8.36741324e-01 5.39192347e-01 -9.55801772e-02 1.41393915e+02] [-5.34769989e-01 8.42154916e-01 6.92542855e-02 -5.99143425e+01] [ 1.17834697e-01 -6.83451221e-03 9.93009705e-01 -2.10464497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-59.93, Z:-2.10 [[ 8.36165390e-01 5.39396974e-01 -9.93898661e-02 1.41421458e+02] [-5.35069306e-01 8.42042420e-01 6.83037333e-02 -5.99296928e+01] [ 1.20533310e-01 -3.93275110e-03 9.92701493e-01 -2.10044470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.45, Y:-59.94, Z:-2.10 [[ 8.35061591e-01 5.40357677e-01 -1.03371757e-01 1.41449204e+02] [-5.37423204e-01 8.41396376e-01 5.68193440e-02 -5.99367224e+01] [ 1.17679390e-01 8.10672909e-03 9.93018551e-01 -2.10241561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.47, Y:-59.96, Z:-2.09 [[ 8.35187795e-01 5.42004610e-01 -9.32327712e-02 1.41473067e+02] [-5.37032313e-01 8.40291107e-01 7.42101714e-02 -5.99643396e+01] [ 1.18564924e-01 -1.19104187e-02 9.92874867e-01 -2.09092825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:-59.97, Z:-2.09 [[ 8.34370345e-01 5.41201278e-01 -1.04533742e-01 1.41503575e+02] [-5.38172923e-01 8.40854263e-01 5.77409175e-02 -5.99712513e+01] [ 1.19147101e-01 8.07992043e-03 9.92843736e-01 -2.09396726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.53, Y:-60.00, Z:-2.08 [[ 8.35084116e-01 5.42672435e-01 -9.02283039e-02 1.41526356e+02] [-5.37594308e-01 8.39818862e-01 7.54760856e-02 -5.99991004e+01] [ 1.16734223e-01 -1.45226576e-02 9.93057004e-01 -2.08164061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:-60.01, Z:-2.08 [[ 8.35407265e-01 5.40787781e-01 -9.82001865e-02 1.41559564e+02] [-5.37061472e-01 8.41159042e-01 6.33754000e-02 -6.00111232e+01] [ 1.16874617e-01 -2.04732886e-04 9.93146657e-01 -2.08393168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-60.03, Z:-2.08 [[ 8.35838826e-01 5.40430577e-01 -9.64792661e-02 1.41587608e+02] [-5.36940257e-01 8.41388432e-01 6.13242795e-02 -6.00264615e+01] [ 1.14318054e-01 5.46388129e-04 9.93444052e-01 -2.08263486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:-60.04, Z:-2.08 [[ 8.35271794e-01 5.40043611e-01 -1.03314705e-01 1.41616317e+02] [-5.37307102e-01 8.41583714e-01 5.51174228e-02 -6.00385218e+01] [ 1.16713785e-01 9.47369602e-03 9.93120406e-01 -2.08302350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.63, Y:-60.07, Z:-2.07 [[ 8.34518759e-01 5.43886629e-01 -8.81236414e-02 1.41634865e+02] [-5.38681484e-01 8.38992396e-01 7.69026533e-02 -6.00677669e+01] [ 1.15761390e-01 -1.67061329e-02 9.93136549e-01 -2.06825367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:-60.07, Z:-2.08 [[ 8.34280718e-01 5.40313145e-01 -1.09715038e-01 1.41673898e+02] [-5.38533217e-01 8.41245444e-01 4.78338550e-02 -6.00670226e+01] [ 1.18142537e-01 1.91783296e-02 9.92811429e-01 -2.08045656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.69, Y:-60.10, Z:-2.07 [[ 8.35063065e-01 5.43827702e-01 -8.31931926e-02 1.41688354e+02] [-5.38853811e-01 8.38996587e-01 7.56392545e-02 -6.00986719e+01] [ 1.10933527e-01 -1.83345788e-02 9.93658692e-01 -2.06534763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:-60.10, Z:-2.07 [[ 8.35111416e-01 5.40440881e-01 -1.02530861e-01 1.41725837e+02] [-5.38080279e-01 8.41298116e-01 5.18371826e-02 -6.01028992e+01] [ 1.14273952e-01 1.18800112e-02 9.93378241e-01 -2.07397759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-60.13, Z:-2.06 [[ 8.35074842e-01 5.42523066e-01 -9.12070778e-02 1.41747247e+02] [-5.38164664e-01 8.39996022e-01 6.91771418e-02 -6.01300252e+01] [ 1.14143778e-01 -8.68366436e-03 9.93426289e-01 -2.06223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-60.14, Z:-2.06 [[ 8.35754086e-01 5.41765763e-01 -8.94704794e-02 1.41773565e+02] [-5.37716544e-01 8.40496052e-01 6.65379966e-02 -6.01447151e+01] [ 1.11247593e-01 -7.49964559e-03 9.93764423e-01 -2.06049447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07361786499996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:141.81, Y:-60.16, Z:-2.06 [[ 8.36059061e-01 5.40324592e-01 -9.51555688e-02 1.41805017e+02] [-5.37118191e-01 8.41454433e-01 5.88088891e-02 -6.01594863e+01] [ 1.11844964e-01 1.94208244e-03 9.93723771e-01 -2.05957559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:-60.18, Z:-2.05 [[ 8.36141041e-01 5.40958523e-01 -9.07305684e-02 1.41827823e+02] [-5.36797638e-01 8.41014448e-01 6.74017376e-02 -6.01806520e+01] [ 1.12767263e-01 -7.65340422e-03 9.93591953e-01 -2.05260147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:-60.19, Z:-2.06 [[ 8.36829018e-01 5.37023980e-01 -1.06406959e-01 1.41860887e+02] [-5.34966388e-01 8.43424020e-01 4.94660075e-02 -6.01862935e+01] [ 1.16310617e-01 1.55295558e-02 9.93091473e-01 -2.05916369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:-60.22, Z:-2.04 [[ 8.37460212e-01 5.40149288e-01 -8.30610613e-02 1.41875524e+02] [-5.34529236e-01 8.41237502e-01 8.12278320e-02 -6.02216456e+01] [ 1.13749235e-01 -2.36265118e-02 9.93228523e-01 -2.03841818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.92, Y:-60.22, Z:-2.05 [[ 8.38936807e-01 5.34520141e-01 -1.02338913e-01 1.41915262e+02] [-5.32413245e-01 8.45052675e-01 4.92149734e-02 -6.02224873e+01] [ 1.12788167e-01 1.31983400e-02 9.93531395e-01 -2.05133452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:-60.25, Z:-2.04 [[ 8.39892948e-01 5.35835606e-01 -8.63715242e-02 1.41931979e+02] [-5.31401929e-01 8.44224077e-01 6.99835552e-02 -6.02503266e+01] [ 1.10416601e-01 -1.28806999e-02 9.93801923e-01 -2.03651355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:-60.25, Z:-2.05 [[ 8.41457994e-01 5.30389091e-01 -1.03130293e-01 1.41971496e+02] [-5.29031514e-01 8.47543560e-01 4.23741837e-02 -6.02532735e+01] [ 1.09882221e-01 1.89030796e-02 9.93764847e-01 -2.04959636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28361786499997 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:141.98, Y:-60.29, Z:-2.03 [[ 8.41622491e-01 5.34571690e-01 -7.68419837e-02 1.41976787e+02] [-5.28884973e-01 8.44615043e-01 8.31030358e-02 -6.02877258e+01] [ 1.09326426e-01 -2.93008135e-02 9.93573950e-01 -2.02589422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:-60.29, Z:-2.04 [[ 8.42309282e-01 5.31684082e-01 -8.84709586e-02 1.42010439e+02] [-5.28782721e-01 8.46942757e-01 5.54689175e-02 -6.02912882e+01] [ 1.04421778e-01 5.99301006e-05 9.94533101e-01 -2.03772867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34361786499997 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:142.03, Y:-60.31, Z:-2.03 [[ 8.42935705e-01 5.30017009e-01 -9.24195160e-02 1.42032576e+02] [-5.26565961e-01 8.47983968e-01 6.04274611e-02 -6.03058360e+01] [ 1.10397850e-01 -2.27149324e-03 9.93884880e-01 -2.02831771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-60.32, Z:-2.03 [[ 8.42490163e-01 5.29863436e-01 -9.72371570e-02 1.42056424e+02] [-5.26752989e-01 8.48078152e-01 5.73997905e-02 -6.03183232e+01] [ 1.12878759e-01 2.86120427e-03 9.93604649e-01 -2.02673304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:-60.34, Z:-2.02 [[ 8.42455102e-01 5.30507689e-01 -9.39733570e-02 1.42082215e+02] [-5.26842527e-01 8.47674827e-01 6.23244613e-02 -6.03392466e+01] [ 1.12722455e-01 -2.99639950e-03 9.93621995e-01 -2.02116318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:-60.36, Z:-2.02 [[ 8.42463017e-01 5.30451605e-01 -9.42186746e-02 1.42109418e+02] [-5.26764976e-01 8.47709819e-01 6.25037807e-02 -6.03565916e+01] [ 1.13025326e-01 -3.02602579e-03 9.93587499e-01 -2.01767189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:-60.37, Z:-2.02 [[ 8.41825868e-01 5.31467849e-01 -9.41866948e-02 1.42137006e+02] [-5.27785936e-01 8.47073433e-01 6.25188341e-02 -6.03729127e+01] [ 1.13009797e-01 -2.91955887e-03 9.93589584e-01 -2.01509237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:-60.39, Z:-2.01 [[ 8.41061269e-01 5.33291742e-01 -9.06413774e-02 1.42165844e+02] [-5.29778073e-01 8.45924291e-01 6.12150916e-02 -6.03931579e+01] [ 1.09321246e-01 -3.46582846e-03 9.94000429e-01 -2.01459203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.20, Y:-60.40, Z:-2.02 [[ 8.41075580e-01 5.32580243e-01 -9.46052544e-02 1.42198092e+02] [-5.30218794e-01 8.46345841e-01 5.06630866e-02 -6.04031453e+01] [ 1.07050923e-01 7.54999895e-03 9.94224873e-01 -2.01917853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:-60.42, Z:-2.02 [[ 8.41377347e-01 5.32426076e-01 -9.27719416e-02 1.42224425e+02] [-5.30072124e-01 8.46449832e-01 5.04601304e-02 -6.04184978e+01] [ 1.05393084e-01 6.71980954e-03 9.94407935e-01 -2.01888459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:-60.44, Z:-2.01 [[ 8.40911904e-01 5.35174558e-01 -8.03452729e-02 1.42242874e+02] [-5.31326471e-01 8.44654256e-01 6.52025208e-02 -6.04419348e+01] [ 1.02758707e-01 -1.21400055e-02 9.94632228e-01 -2.00925190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:-60.45, Z:-2.01 [[ 8.39661704e-01 5.34677118e-01 -9.53341658e-02 1.42278756e+02] [-5.32662343e-01 8.44987406e-01 4.76142001e-02 -6.04479850e+01] [ 1.06014393e-01 1.08010997e-02 9.94305931e-01 -2.01424718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.30, Y:-60.47, Z:-2.00 [[ 8.38083415e-01 5.38500040e-01 -8.73721720e-02 1.42295017e+02] [-5.33977085e-01 8.42530160e-01 7.07912610e-02 -6.04741374e+01] [ 1.11734787e-01 -1.26742440e-02 9.93657235e-01 -1.99582068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:-60.49, Z:-2.00 [[ 8.38743168e-01 5.37784846e-01 -8.54245741e-02 1.42325926e+02] [-5.34161707e-01 8.43053343e-01 6.27083032e-02 -6.04895091e+01] [ 1.05741048e-01 -6.96562459e-03 9.94369303e-01 -2.00034808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.35, Y:-60.50, Z:-2.00 [[ 8.38500348e-01 5.37827691e-01 -8.75130902e-02 1.42353862e+02] [-5.34861736e-01 8.43054645e-01 5.64073431e-02 -6.05026288e+01] [ 1.04115748e-01 -4.90173500e-04 9.94565066e-01 -2.00109661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73361786499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:142.38, Y:-60.52, Z:-1.99 [[ 8.37549920e-01 5.37452842e-01 -9.82576952e-02 1.42382060e+02] [-5.34654168e-01 8.43269908e-01 5.51432931e-02 -6.05164172e+01] [ 1.12494677e-01 6.34862558e-03 9.93632046e-01 -1.99169296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.40, Y:-60.54, Z:-1.98 [[ 8.37083066e-01 5.40798440e-01 -8.26376929e-02 1.42397328e+02] [-5.36361189e-01 8.41020735e-01 7.07163200e-02 -6.05398858e+01] [ 1.07743289e-01 -1.48717827e-02 9.94067510e-01 -1.98307923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79361786499996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:142.43, Y:-60.55, Z:-1.98 [[ 8.37689645e-01 5.38865401e-01 -8.88827242e-02 1.42425245e+02] [-5.35385114e-01 8.42383626e-01 6.12585276e-02 -6.05499634e+01] [ 1.07883453e-01 -3.72914677e-03 9.94156554e-01 -1.98393661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:-60.56, Z:-1.99 [[ 8.38175305e-01 5.37619140e-01 -9.18031493e-02 1.42456914e+02] [-5.35045842e-01 8.43173605e-01 5.27656977e-02 -6.05627178e+01] [ 1.05773841e-01 4.89198848e-03 9.94378179e-01 -1.98852477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:-60.59, Z:-1.98 [[ 8.36782573e-01 5.40474651e-01 -8.76474573e-02 1.42478956e+02] [-5.36584137e-01 8.41326877e-01 6.51655550e-02 -6.05865841e+01] [ 1.08960492e-01 -7.49916554e-03 9.94017793e-01 -1.97784388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-60.60, Z:-1.98 [[ 8.37226464e-01 5.39624800e-01 -8.86392884e-02 1.42506237e+02] [-5.36562879e-01 8.41905472e-01 5.74060325e-02 -6.05984738e+01] [ 1.05603621e-01 -5.01297772e-04 9.94408178e-01 -1.98001249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:-60.62, Z:-1.97 [[ 8.37125852e-01 5.39451928e-01 -9.06196755e-02 1.42532743e+02] [-5.36025927e-01 8.42013325e-01 6.07434389e-02 -6.06181822e+01] [ 1.09071140e-01 -2.27540744e-03 9.94031342e-01 -1.97084685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-60.64, Z:-1.97 [[ 8.37750513e-01 5.38821150e-01 -8.85767826e-02 1.42561246e+02] [-5.35609015e-01 8.42418271e-01 5.87744830e-02 -6.06360015e+01] [ 1.06287635e-01 -1.79582997e-03 9.94333804e-01 -1.97239825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.59, Y:-60.65, Z:-1.97 [[ 8.37000193e-01 5.39792117e-01 -8.97504697e-02 1.42588072e+02] [-5.36495384e-01 8.41796582e-01 5.95920922e-02 -6.06548804e+01] [ 1.07718980e-01 -1.72787994e-03 9.94179881e-01 -1.96689503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:-60.67, Z:-1.96 [[ 8.36234024e-01 5.40889492e-01 -9.02840792e-02 1.42614522e+02] [-5.37555478e-01 8.41092090e-01 5.99850336e-02 -6.06716984e+01] [ 1.08382499e-01 -1.62882469e-03 9.94107932e-01 -1.96152523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:-60.69, Z:-1.96 [[ 8.35775505e-01 5.41647296e-01 -8.99861793e-02 1.42641087e+02] [-5.38335820e-01 8.40604417e-01 5.98227249e-02 -6.06892299e+01] [ 1.08045597e-01 -1.55558446e-03 9.94144722e-01 -1.95833511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-60.70, Z:-1.96 [[ 8.36093863e-01 5.41158850e-01 -8.99675005e-02 1.42671871e+02] [-5.38746419e-01 8.40902116e-01 5.13412866e-02 -6.07034853e+01] [ 1.03437653e-01 5.54353401e-03 9.94620491e-01 -1.96426688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:-60.73, Z:-1.95 [[ 8.35566444e-01 5.43043169e-01 -8.32636418e-02 1.42694082e+02] [-5.39352066e-01 8.39663097e-01 6.37591785e-02 -6.07278049e+01] [ 1.04537394e-01 -8.36661285e-03 9.94485763e-01 -1.95470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:-60.74, Z:-1.95 [[ 8.33757738e-01 5.44837300e-01 -8.94446832e-02 1.42721448e+02] [-5.41576093e-01 8.38540926e-01 5.95352889e-02 -6.07443664e+01] [ 1.07440074e-01 -1.19690569e-03 9.94210842e-01 -1.94905652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:-60.76, Z:-1.95 [[ 8.33836203e-01 5.44792815e-01 -8.89830083e-02 1.42749691e+02] [-5.41561377e-01 8.38569787e-01 5.92620236e-02 -6.07623801e+01] [ 1.06903987e-01 -1.22506020e-03 9.94268594e-01 -1.94836222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.78, Y:-60.78, Z:-1.94 [[ 8.32458888e-01 5.46817256e-01 -8.94599776e-02 1.42775032e+02] [-5.43558558e-01 8.37251387e-01 5.96171949e-02 -6.07809202e+01] [ 1.07500201e-01 -1.00212739e-03 9.94204558e-01 -1.94261870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:-60.80, Z:-1.95 [[ 8.32063228e-01 5.47658345e-01 -8.79836480e-02 1.42803182e+02] [-5.44622950e-01 8.36702060e-01 5.75804270e-02 -6.07968025e+01] [ 1.05150501e-01 7.35796209e-06 9.94456320e-01 -1.94567135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:-60.82, Z:-1.94 [[ 8.30322013e-01 5.50093147e-01 -8.92349986e-02 1.42827466e+02] [-5.46771050e-01 8.35102224e-01 6.03795812e-02 -6.08162574e+01] [ 1.07734740e-01 -1.34338146e-03 9.94178767e-01 -1.93737313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:-60.83, Z:-1.94 [[ 8.29908345e-01 5.50627470e-01 -8.97860129e-02 1.42854854e+02] [-5.47356901e-01 8.34750886e-01 5.99281357e-02 -6.08341892e+01] [ 1.07947032e-01 -5.89866217e-04 9.94156472e-01 -1.93536099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:-60.85, Z:-1.93 [[ 8.28549777e-01 5.52347467e-01 -9.17471688e-02 1.42881221e+02] [-5.48938188e-01 8.33613886e-01 6.12760590e-02 -6.08536949e+01] [ 1.10327390e-01 -4.06740454e-04 9.93895217e-01 -1.92875576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-60.87, Z:-1.93 [[ 8.28369204e-01 5.52917077e-01 -8.99286795e-02 1.42907222e+02] [-5.49641380e-01 8.33236209e-01 6.00980310e-02 -6.08737970e+01] [ 1.08161060e-01 -3.54834707e-04 9.94133321e-01 -1.92695260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:-60.89, Z:-1.92 [[ 8.28487000e-01 5.52932120e-01 -8.87432353e-02 1.42934013e+02] [-5.49738654e-01 8.33226216e-01 5.93421095e-02 -6.08925447e+01] [ 1.06755349e-01 -3.78579557e-04 9.94285247e-01 -1.92390604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:-60.92, Z:-1.91 [[ 8.24429823e-01 5.57495400e-01 -9.75415070e-02 1.42956719e+02] [-5.53661497e-01 8.30180005e-01 6.52694835e-02 -6.09151228e+01] [ 1.17364446e-01 1.94868075e-04 9.93088893e-01 -1.91298032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.99, Y:-60.93, Z:-1.92 [[ 8.27876776e-01 5.53989112e-01 -8.78413805e-02 1.42986693e+02] [-5.50858885e-01 8.32523858e-01 5.88091350e-02 -6.09305179e+01] [ 1.05709666e-01 -2.98512163e-04 9.94396992e-01 -1.91702029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:-60.96, Z:-1.90 [[ 8.25863157e-01 5.58411297e-01 -7.82743189e-02 1.43005580e+02] [-5.52869272e-01 8.29197597e-01 8.22612560e-02 -6.09635008e+01] [ 1.10840492e-01 -2.46610749e-02 9.93532192e-01 -1.89846888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:-60.96, Z:-1.92 [[ 8.27730574e-01 5.51965044e-01 -1.00978649e-01 1.43046442e+02] [-5.51112094e-01 8.33532922e-01 3.87082441e-02 -6.09567365e+01] [ 1.05534626e-01 2.36105574e-02 9.94135295e-01 -1.91820582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:-60.99, Z:-1.91 [[ 8.27690515e-01 5.54396312e-01 -8.70237904e-02 1.43064360e+02] [-5.51321593e-01 8.32252756e-01 5.83082525e-02 -6.09866476e+01] [ 1.04751669e-01 -2.83092844e-04 9.94498370e-01 -1.90786893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:-61.02, Z:-1.89 [[ 8.26063631e-01 5.57865667e-01 -8.00298424e-02 1.43084466e+02] [-5.52819121e-01 8.29697168e-01 7.74185303e-02 -6.10176092e+01] [ 1.09589674e-01 -1.97106050e-02 9.93781463e-01 -1.89184030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:-61.03, Z:-1.90 [[ 8.26648205e-01 5.54972195e-01 -9.30516481e-02 1.43119352e+02] [-5.52250922e-01 8.31848937e-01 5.51929720e-02 -6.10256763e+01] [ 1.08035479e-01 5.76268728e-03 9.94130337e-01 -1.89959379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:-61.05, Z:-1.90 [[ 8.27617320e-01 5.54100462e-01 -8.95670185e-02 1.43142413e+02] [-5.50915167e-01 8.32449770e-01 5.93284003e-02 -6.10481895e+01] [ 1.07433938e-01 2.42617398e-04 9.94212196e-01 -1.89586503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63361786499996 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:143.17, Y:-61.06, Z:-1.89 [[ 8.29164464e-01 5.50858271e-01 -9.50865744e-02 1.43169130e+02] [-5.48336343e-01 8.34560613e-01 5.32525951e-02 -6.10612586e+01] [ 1.08690142e-01 7.98426496e-03 9.94043613e-01 -1.89444185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66361786499996 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:143.19, Y:-61.08, Z:-1.89 [[ 8.28747013e-01 5.52605005e-01 -8.83521195e-02 1.43186192e+02] [-5.49132408e-01 8.33438593e-01 6.19169642e-02 -6.10828330e+01] [ 1.07851690e-01 -2.79648691e-03 9.94163061e-01 -1.88837864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:-61.11, Z:-1.88 [[ 8.29247824e-01 5.52890081e-01 -8.16125292e-02 1.43203058e+02] [-5.48640083e-01 8.33153197e-01 6.96405688e-02 -6.11071578e+01] [ 1.06499319e-01 -1.29733853e-02 9.94228136e-01 -1.88200101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:-61.12, Z:-1.89 [[ 8.31765254e-01 5.45677161e-01 -1.01995092e-01 1.43244140e+02] [-5.44134897e-01 8.37797991e-01 4.48524374e-02 -6.11161489e+01] [ 1.09926234e-01 1.81923900e-02 9.93773244e-01 -1.89146769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-61.14, Z:-1.88 [[ 8.32377588e-01 5.48054932e-01 -8.23610541e-02 1.43254511e+02] [-5.44215439e-01 8.36386316e-01 6.54788980e-02 -6.11404039e+01] [ 1.04771692e-01 -9.68100992e-03 9.94449180e-01 -1.88027460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:-61.17, Z:-1.87 [[ 8.32334169e-01 5.48231595e-01 -8.16207662e-02 1.43278683e+02] [-5.43818040e-01 8.36197806e-01 7.09589165e-02 -6.11695941e+01] [ 1.07153026e-01 -1.46746857e-02 9.94134238e-01 -1.87138284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.31, Y:-61.19, Z:-1.87 [[ 8.32921719e-01 5.46643680e-01 -8.61515890e-02 1.43307346e+02] [-5.42946625e-01 8.37341225e-01 6.37858509e-02 -6.11861796e+01] [ 1.07006409e-01 -6.35290612e-03 9.94238034e-01 -1.87035048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-61.20, Z:-1.87 [[ 8.33735322e-01 5.45093822e-01 -8.80802952e-02 1.43334398e+02] [-5.41836482e-01 8.38372876e-01 5.95327450e-02 -6.12029023e+01] [ 1.06295062e-01 -1.90943498e-03 9.94332798e-01 -1.86913180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-61.22, Z:-1.87 [[ 8.34343270e-01 5.44023475e-01 -8.89368714e-02 1.43358798e+02] [-5.40952239e-01 8.39069995e-01 5.77253727e-02 -6.12221201e+01] [ 1.06028218e-01 -5.21764781e-05 9.94363120e-01 -1.86679294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:-61.24, Z:-1.86 [[ 8.34354329e-01 5.44211245e-01 -8.76753931e-02 1.43384953e+02] [-5.41034284e-01 8.38946747e-01 5.87389084e-02 -6.12425474e+01] [ 1.05521360e-01 -1.57366900e-03 9.94415791e-01 -1.86301126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.41, Y:-61.26, Z:-1.86 [[ 8.34019273e-01 5.44977283e-01 -8.60907228e-02 1.43409908e+02] [-5.41497101e-01 8.38436931e-01 6.16798434e-02 -6.12639291e+01] [ 1.05795755e-01 -4.82430137e-03 9.94376179e-01 -1.85728951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:-61.27, Z:-1.86 [[ 8.34430069e-01 5.43251005e-01 -9.27620918e-02 1.43437809e+02] [-5.41395690e-01 8.39490676e-01 4.63261447e-02 -6.12710728e+01] [ 1.03039636e-01 1.15650685e-02 9.94610015e-01 -1.86401148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:-61.31, Z:-1.85 [[ 8.32344868e-01 5.48327658e-01 -8.08628525e-02 1.43456168e+02] [-5.44088020e-01 8.36149684e-01 6.94401262e-02 -6.13050699e+01] [ 1.05689390e-01 -1.38016233e-02 9.94303408e-01 -1.84822785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:-61.32, Z:-1.85 [[ 8.31810584e-01 5.48000182e-01 -8.82437110e-02 1.43487305e+02] [-5.45094564e-01 8.36477335e-01 5.63700636e-02 -6.13168325e+01] [ 1.04704669e-01 1.21195162e-03 9.94502621e-01 -1.85188795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.51, Y:-61.34, Z:-1.85 [[ 8.31167023e-01 5.49823887e-01 -8.27953753e-02 1.43511862e+02] [-5.46595398e-01 8.35269405e-01 5.96531058e-02 -6.13372911e+01] [ 1.01955146e-01 -4.32612326e-03 9.94779590e-01 -1.84688444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:-61.35, Z:-1.85 [[ 8.30594436e-01 5.49208059e-01 -9.21053274e-02 1.43541527e+02] [-5.47165536e-01 8.35623517e-01 4.84067582e-02 -6.13468778e+01] [ 1.03550759e-01 1.01904768e-02 9.94571965e-01 -1.85043934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:-61.38, Z:-1.84 [[ 8.28649056e-01 5.54194932e-01 -7.87954282e-02 1.43559857e+02] [-5.50215315e-01 8.32292174e-01 6.74747699e-02 -6.13775253e+01] [ 1.02974994e-01 -1.25584531e-02 9.94604663e-01 -1.83756369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:-61.39, Z:-1.84 [[ 8.28355673e-01 5.52386167e-01 -9.32544991e-02 1.43593507e+02] [-5.50318528e-01 8.33518735e-01 4.89493181e-02 -6.13853023e+01] [ 1.04768298e-01 1.07722334e-02 9.94438315e-01 -1.84332477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:143.61, Y:-61.42, Z:-1.83 [[ 8.26645060e-01 5.56596040e-01 -8.28178271e-02 1.43612051e+02] [-5.52491854e-01 8.30714177e-01 6.83133014e-02 -6.14168559e+01] [ 1.06820856e-01 -1.07146783e-02 9.94220549e-01 -1.82944163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-61.43, Z:-1.83 [[ 8.26727467e-01 5.55365192e-01 -8.99510927e-02 1.43642785e+02] [-5.52516024e-01 8.31600511e-01 5.62728499e-02 -6.14297756e+01] [ 1.06055357e-01 3.17710945e-03 9.94355152e-01 -1.83224078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-61.45, Z:-1.83 [[ 8.26706301e-01 5.55311251e-01 -9.04771114e-02 1.43666716e+02] [-5.52708562e-01 8.31625138e-01 5.39710535e-02 -6.14459909e+01] [ 1.05213773e-01 5.38926419e-03 9.94435024e-01 -1.83013597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.69, Y:-61.47, Z:-1.82 [[ 8.26600731e-01 5.55957009e-01 -8.74244616e-02 1.43690259e+02] [-5.52830591e-01 8.31210978e-01 5.88782423e-02 -6.14667696e+01] [ 1.05401944e-01 -3.37881353e-04 9.94429644e-01 -1.82482120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.72, Y:-61.49, Z:-1.82 [[ 8.26536483e-01 5.56054922e-01 -8.74091877e-02 1.43717797e+02] [-5.52926653e-01 8.31145474e-01 5.89009090e-02 -6.14854533e+01] [ 1.05401891e-01 -3.52880682e-04 9.94429644e-01 -1.82129389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:-61.51, Z:-1.82 [[ 8.26286788e-01 5.56684404e-01 -8.57474066e-02 1.43744581e+02] [-5.53224393e-01 8.30715065e-01 6.20906747e-02 -6.15074142e+01] [ 1.05796573e-01 -3.86714727e-03 9.94380275e-01 -1.81670881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.77, Y:-61.52, Z:-1.82 [[ 8.26152059e-01 5.56464329e-01 -8.84320415e-02 1.43771155e+02] [-5.53648121e-01 8.30867071e-01 5.59791731e-02 -6.15195861e+01] [ 1.04625684e-01 2.71292455e-03 9.94507972e-01 -1.81557891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:-61.54, Z:-1.81 [[ 8.26074929e-01 5.56745586e-01 -8.73759924e-02 1.43797934e+02] [-5.53617431e-01 8.30683005e-01 5.89362891e-02 -6.15391090e+01] [ 1.05394271e-01 -3.12918344e-04 9.94430465e-01 -1.81188613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.82, Y:-61.56, Z:-1.81 [[ 8.26303245e-01 5.57426438e-01 -8.06145936e-02 1.43822820e+02] [-5.53821687e-01 8.30187058e-01 6.38043005e-02 -6.15606692e+01] [ 1.02491396e-01 -8.07559035e-03 9.94701110e-01 -1.80568798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.85, Y:-61.58, Z:-1.80 [[ 8.25101534e-01 5.58714875e-01 -8.39353771e-02 1.43849576e+02] [-5.54661879e-01 8.29306398e-01 6.78313946e-02 -6.15807011e+01] [ 1.07506554e-01 -9.41203376e-03 9.94159823e-01 -1.79768728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-61.58, Z:-1.81 [[ 8.27034457e-01 5.54160048e-01 -9.44491878e-02 1.43883980e+02] [-5.52632550e-01 8.32260672e-01 4.40390602e-02 -6.15838843e+01] [ 1.03011032e-01 1.57738752e-02 9.94555133e-01 -1.80898137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:-61.61, Z:-1.80 [[ 8.27694064e-01 5.54362571e-01 -8.72047955e-02 1.43905429e+02] [-5.51260501e-01 8.32275182e-01 5.85651847e-02 -6.16091322e+01] [ 1.05044733e-01 -4.01496450e-04 9.94467417e-01 -1.80064358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:-61.63, Z:-1.79 [[ 8.27689385e-01 5.54288138e-01 -8.77208210e-02 1.43929882e+02] [-5.51052564e-01 8.32324031e-01 5.98145355e-02 -6.16275809e+01] [ 1.06166635e-01 -1.16907270e-03 9.94347665e-01 -1.79405156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:143.96, Y:-61.64, Z:-1.79 [[ 8.30353490e-01 5.50461758e-01 -8.66310273e-02 1.43958663e+02] [-5.47335326e-01 8.34859457e-01 5.85980132e-02 -6.16446019e+01] [ 1.04580698e-01 -1.24084316e-03 9.94515630e-01 -1.79430903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:-61.66, Z:-1.79 [[ 8.31325609e-01 5.48945588e-01 -8.69279713e-02 1.43984912e+02] [-5.45785395e-01 8.35856797e-01 5.88363629e-02 -6.16617167e+01] [ 1.04957298e-01 -1.46815810e-03 9.94475646e-01 -1.79146976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:-61.67, Z:-1.79 [[ 8.33493470e-01 5.44955332e-01 -9.11719348e-02 1.44014007e+02] [-5.42433492e-01 8.38446628e-01 5.26607896e-02 -6.16745244e+01] [ 1.05140579e-01 5.56228676e-03 9.94441813e-01 -1.79396768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:-61.70, Z:-1.78 [[ 8.33698860e-01 5.45562915e-01 -8.54828467e-02 1.44037314e+02] [-5.41900137e-01 8.38044051e-01 6.34539986e-02 -6.16979117e+01] [ 1.06256540e-01 -6.57835993e-03 9.94316988e-01 -1.78414601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:-61.71, Z:-1.78 [[ 8.33428331e-01 5.45575143e-01 -8.80055689e-02 1.44063102e+02] [-5.41939916e-01 8.38047786e-01 6.30637451e-02 -6.17146958e+01] [ 1.08158884e-01 -4.86538116e-03 9.94121715e-01 -1.77709961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:-61.73, Z:-1.77 [[ 8.34425927e-01 5.43618980e-01 -9.06188593e-02 1.44091105e+02] [-5.40139719e-01 8.39328888e-01 6.14499924e-02 -6.17316481e+01] [ 1.09464409e-01 -2.32862161e-03 9.93987988e-01 -1.77442673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:-61.75, Z:-1.77 [[ 8.34340826e-01 5.43708820e-01 -9.08631143e-02 1.44117163e+02] [-5.40206931e-01 8.39270617e-01 6.16547179e-02 -6.17490920e+01] [ 1.09780956e-01 -2.35616413e-03 9.93953012e-01 -1.77123530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:-61.77, Z:-1.77 [[ 8.35061051e-01 5.42673420e-01 -9.04356179e-02 1.44144152e+02] [-5.39194503e-01 8.39940031e-01 6.14005915e-02 -6.17670298e+01] [ 1.09280965e-01 -2.51085445e-03 9.94007730e-01 -1.76652094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:-61.79, Z:-1.77 [[ 8.35776045e-01 5.42004244e-01 -8.78054774e-02 1.44173489e+02] [-5.38645396e-01 8.40369939e-01 6.03282867e-02 -6.17864824e+01] [ 1.06487271e-01 -3.12492069e-03 9.94309155e-01 -1.76529382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:-61.80, Z:-1.76 [[ 8.36310556e-01 5.41132792e-01 -8.80906145e-02 1.44198095e+02] [-5.37803216e-01 8.40932478e-01 6.00022305e-02 -6.18008413e+01] [ 1.06547433e-01 -2.80508291e-03 9.94303664e-01 -1.75965303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.23, Y:-61.82, Z:-1.76 [[ 8.36769180e-01 5.40544306e-01 -8.73452476e-02 1.44225965e+02] [-5.37280460e-01 8.41311040e-01 5.93754360e-02 -6.18180930e+01] [ 1.05579575e-01 -2.75464015e-03 9.94407042e-01 -1.75604943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-61.84, Z:-1.75 [[ 8.36768461e-01 5.40536923e-01 -8.73978137e-02 1.44253212e+02] [-5.37265400e-01 8.41315678e-01 5.94459426e-02 -6.18358196e+01] [ 1.05661878e-01 -2.78666852e-03 9.94398211e-01 -1.75225930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:-61.85, Z:-1.75 [[ 8.36209079e-01 5.42079166e-01 -8.30936471e-02 1.44277952e+02] [-5.38480020e-01 8.40291116e-01 6.28498847e-02 -6.18547684e+01] [ 1.03892467e-01 -7.81137549e-03 9.94557860e-01 -1.74699001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.31, Y:-61.87, Z:-1.75 [[ 8.36177879e-01 5.40962407e-01 -9.03671960e-02 1.44308712e+02] [-5.38184494e-01 8.41042138e-01 5.48231099e-02 -6.18682081e+01] [ 1.05659861e-01 2.79235187e-03 9.94398409e-01 -1.74727114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:-61.89, Z:-1.74 [[ 8.35957417e-01 5.41767852e-01 -8.75373712e-02 1.44333629e+02] [-5.38483240e-01 8.40523797e-01 5.96284038e-02 -6.18876839e+01] [ 1.05881996e-01 -2.70939911e-03 9.94375011e-01 -1.74162068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:-61.92, Z:-1.73 [[ 8.34621809e-01 5.44889875e-01 -8.06316334e-02 1.44356341e+02] [-5.40046027e-01 8.38292233e-01 7.49427831e-02 -6.19162998e+01] [ 1.08428436e-01 -1.90040879e-02 9.93922592e-01 -1.72909457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:-61.91, Z:-1.74 [[ 8.35190130e-01 5.41318134e-01 -9.71191236e-02 1.44392129e+02] [-5.39417579e-01 8.40717238e-01 4.71508385e-02 -6.19149559e+01] [ 1.07173325e-01 1.30078475e-02 9.94155257e-01 -1.74109195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:-61.95, Z:-1.72 [[ 8.34299642e-01 5.45317405e-01 -8.10742642e-02 1.44409880e+02] [-5.40483075e-01 8.38023627e-01 7.47960376e-02 -6.19499631e+01] [ 1.08729730e-01 -1.85830398e-02 9.93897639e-01 -1.72355176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.45, Y:-61.95, Z:-1.73 [[ 8.35113944e-01 5.41435445e-01 -9.71203363e-02 1.44445458e+02] [-5.39502256e-01 8.40645467e-01 4.74606656e-02 -6.19501169e+01] [ 1.07340657e-01 1.27615769e-02 9.94140395e-01 -1.73425988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:144.46, Y:-61.98, Z:-1.72 [[ 8.34514051e-01 5.45046274e-01 -8.06898901e-02 1.44462834e+02] [-5.40333468e-01 8.38214152e-01 7.37345098e-02 -6.19837873e+01] [ 1.07824128e-01 -1.79330363e-02 9.94008231e-01 -1.71775648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.50, Y:-61.99, Z:-1.73 [[ 8.35730486e-01 5.40736928e-01 -9.56981152e-02 1.44497915e+02] [-5.38807393e-01 8.41104701e-01 4.72173185e-02 -6.19850958e+01] [ 1.06024282e-01 1.21018994e-02 9.94289895e-01 -1.72802705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:-62.01, Z:-1.72 [[ 8.36465134e-01 5.41972569e-01 -8.11899852e-02 1.44518534e+02] [-5.38259661e-01 8.40337645e-01 6.41028862e-02 -6.20126414e+01] [ 1.02969007e-01 -9.91853541e-03 9.94635112e-01 -1.71807834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.55, Y:-62.02, Z:-1.72 [[ 8.35770464e-01 5.41581196e-01 -9.04297490e-02 1.44549024e+02] [-5.38966710e-01 8.40638057e-01 5.33155008e-02 -6.20232981e+01] [ 1.04893361e-01 4.17910336e-03 9.94474694e-01 -1.72003316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:-62.04, Z:-1.72 [[ 8.36497872e-01 5.40934735e-01 -8.75266951e-02 1.44575487e+02] [-5.38192271e-01 8.41063086e-01 5.44239429e-02 -6.20410585e+01] [ 1.03055273e-01 1.58067840e-03 9.94674375e-01 -1.71813187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.60, Y:-62.06, Z:-1.71 [[ 8.35664155e-01 5.42742863e-01 -8.42354144e-02 1.44598425e+02] [-5.39117011e-01 8.39867379e-01 6.30526248e-02 -6.20623115e+01] [ 1.04967939e-01 -7.27807356e-03 9.94448974e-01 -1.70697294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:-62.08, Z:-1.71 [[ 8.35062642e-01 5.43295000e-01 -8.66078913e-02 1.44629249e+02] [-5.40380679e-01 8.39541855e-01 5.61978185e-02 -6.20780538e+01] [ 1.03242944e-01 -1.27467680e-04 9.94656161e-01 -1.71022118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34361786499997 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:144.65, Y:-62.10, Z:-1.70 [[ 8.34003205e-01 5.45547189e-01 -8.25646369e-02 1.44648173e+02] [-5.41868270e-01 8.38037167e-01 6.38160207e-02 -6.20960614e+01] [ 1.04006885e-01 -8.48360886e-03 9.94540394e-01 -1.70080807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:-62.11, Z:-1.70 [[ 8.31889848e-01 5.47488960e-01 -9.06372974e-02 1.44674162e+02] [-5.44446275e-01 8.36811763e-01 5.76569822e-02 -6.21098923e+01] [ 1.07412918e-01 1.38288075e-03 9.94213535e-01 -1.70011132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-62.13, Z:-1.70 [[ 8.30257118e-01 5.50853153e-01 -8.50524645e-02 1.44701225e+02] [-5.47137739e-01 8.34574539e-01 6.42310952e-02 -6.21321879e+01] [ 1.06364523e-01 -6.79291088e-03 9.94304000e-01 -1.69506846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.73, Y:-62.15, Z:-1.69 [[ 8.28367159e-01 5.53333814e-01 -8.73472346e-02 1.44728294e+02] [-5.49425092e-01 8.32932853e-01 6.59919015e-02 -6.21514253e+01] [ 1.09269932e-01 -6.67476162e-03 9.93989703e-01 -1.68946499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46361786499997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:144.76, Y:-62.16, Z:-1.70 [[ 8.28334368e-01 5.51158850e-01 -1.00429557e-01 1.44764942e+02] [-5.50137998e-01 8.34109690e-01 4.01149517e-02 -6.21564864e+01] [ 1.05878977e-01 2.20215223e-02 9.94135149e-01 -1.70055438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.78, Y:-62.19, Z:-1.68 [[ 8.28188729e-01 5.54800271e-01 -7.93730950e-02 1.44779858e+02] [-5.50489030e-01 8.31852455e-01 7.05926487e-02 -6.21883524e+01] [ 1.05191525e-01 -1.47700180e-02 9.94342290e-01 -1.68318381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-62.20, Z:-1.69 [[ 8.27673340e-01 5.55007973e-01 -8.32045211e-02 1.44809206e+02] [-5.51794306e-01 8.31837507e-01 5.97444966e-02 -6.21987719e+01] [ 1.02371313e-01 -3.53714605e-03 9.94739967e-01 -1.68530773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:-62.21, Z:-1.69 [[ 8.26910627e-01 5.53862206e-01 -9.72392479e-02 1.44843743e+02] [-5.52169186e-01 8.32461375e-01 4.60135752e-02 -6.22096767e+01] [ 1.06433098e-01 1.56434021e-02 9.94196801e-01 -1.68898261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.86, Y:-62.24, Z:-1.68 [[ 8.26678223e-01 5.56452448e-01 -8.34493121e-02 1.44862447e+02] [-5.52760653e-01 8.30849140e-01 6.43845183e-02 -6.22371037e+01] [ 1.05160712e-01 -7.09778295e-03 9.94429910e-01 -1.67749099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:-62.25, Z:-1.68 [[ 8.26444144e-01 5.55839700e-01 -8.96231267e-02 1.44892219e+02] [-5.53106297e-01 8.31280098e-01 5.51980292e-02 -6.22491952e+01] [ 1.05183178e-01 3.95302775e-03 9.94445007e-01 -1.67933636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:-62.28, Z:-1.66 [[ 8.25925319e-01 5.58290536e-01 -7.84795828e-02 1.44912862e+02] [-5.53688586e-01 8.29464276e-01 7.36068241e-02 -6.22783310e+01] [ 1.06190004e-01 -1.73404905e-02 9.94194644e-01 -1.66379440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:-62.28, Z:-1.67 [[ 8.26008258e-01 5.54927064e-01 -9.88246544e-02 1.44949082e+02] [-5.53017252e-01 8.31768231e-01 4.83066236e-02 -6.22814148e+01] [ 1.09005861e-01 1.47500688e-02 9.93931667e-01 -1.67350787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.97, Y:-62.30, Z:-1.67 [[ 8.26378039e-01 5.55139202e-01 -9.44447113e-02 1.44972509e+02] [-5.52635189e-01 8.31717509e-01 5.32947783e-02 -6.23005233e+01] [ 1.08137341e-01 8.15183652e-03 9.94102542e-01 -1.67042131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.99, Y:-62.33, Z:-1.66 [[ 8.26875180e-01 5.56738392e-01 -7.94971633e-02 1.44992269e+02] [-5.52292185e-01 8.30541989e-01 7.19259831e-02 -6.23302179e+01] [ 1.06069688e-01 -1.55681482e-02 9.94236820e-01 -1.65765380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-62.33, Z:-1.67 [[ 8.27883422e-01 5.51859365e-01 -1.00300946e-01 1.45027705e+02] [-5.49903685e-01 8.33805562e-01 4.87259970e-02 -6.23327653e+01] [ 1.10521384e-01 1.48164147e-02 9.93763301e-01 -1.66697072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:-62.36, Z:-1.65 [[ 8.28805909e-01 5.53033063e-01 -8.50599558e-02 1.45046450e+02] [-5.48827936e-01 8.33094568e-01 6.88573658e-02 -6.23620854e+01] [ 1.08943387e-01 -1.03861117e-02 9.93993696e-01 -1.65499886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:-62.38, Z:-1.65 [[ 8.29868113e-01 5.51939324e-01 -8.17428713e-02 1.45072715e+02] [-5.47649453e-01 8.33778418e-01 6.99544647e-02 -6.23818165e+01] [ 1.06766062e-01 -1.32865409e-02 9.94195391e-01 -1.64985522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85361786499996 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:145.09, Y:-62.40, Z:-1.64 [[ 8.28825823e-01 5.52591039e-01 -8.76977672e-02 1.45094804e+02] [-5.48459276e-01 8.33412031e-01 6.79471059e-02 -6.23962794e+01] [ 1.10635336e-01 -8.21766210e-03 9.93827094e-01 -1.64340815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88361786499996 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:145.12, Y:-62.41, Z:-1.64 [[ 8.32025620e-01 5.48088926e-01 -8.56264916e-02 1.45118528e+02] [-5.44155951e-01 8.36378059e-01 6.60760384e-02 -6.24125395e+01] [ 1.07831664e-01 -8.38279181e-03 9.94133825e-01 -1.64060215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-62.43, Z:-1.64 [[ 8.33811953e-01 5.44722662e-01 -8.96373198e-02 1.45145861e+02] [-5.41394927e-01 8.38614695e-01 6.01408865e-02 -6.24264855e+01] [ 1.07931277e-01 -1.61699986e-03 9.94157042e-01 -1.63965350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-62.45, Z:-1.64 [[ 8.34785364e-01 5.43367088e-01 -8.88009275e-02 1.45171990e+02] [-5.39923587e-01 8.39489465e-01 6.11551945e-02 -6.24462447e+01] [ 1.07777163e-01 -3.10574596e-03 9.94170226e-01 -1.63567407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.20, Y:-62.47, Z:-1.63 [[ 8.36514588e-01 5.40752330e-01 -8.84887687e-02 1.45197777e+02] [-5.37314580e-01 8.41174737e-01 6.09762644e-02 -6.24655837e+01] [ 1.07407574e-01 -3.46122905e-03 9.94209049e-01 -1.63227935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:-62.49, Z:-1.63 [[ 8.35166729e-01 5.42751003e-01 -8.89824905e-02 1.45223696e+02] [-5.39282248e-01 8.39887360e-01 6.13504581e-02 -6.24855446e+01] [ 1.08033292e-01 -3.25118387e-03 9.94141961e-01 -1.62949490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:-62.50, Z:-1.63 [[ 8.35598775e-01 5.42071265e-01 -8.90698050e-02 1.45249121e+02] [-5.38588024e-01 8.40325754e-01 6.14456482e-02 -6.25042318e+01] [ 1.08155571e-01 -3.37197816e-03 9.94128262e-01 -1.62548069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06361786499997 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:145.27, Y:-62.51, Z:-1.63 [[ 8.34767686e-01 5.41850675e-01 -9.77791226e-02 1.45274241e+02] [-5.39138877e-01 8.40444532e-01 5.46100673e-02 -6.25127306e+01] [ 1.11768431e-01 7.12980694e-03 9.93708702e-01 -1.62528711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09361786499997 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:145.30, Y:-62.53, Z:-1.62 [[ 8.33921825e-01 5.43540305e-01 -9.55945959e-02 1.45296122e+02] [-5.40218439e-01 8.39381566e-01 6.00218640e-02 -6.25309146e+01] [ 1.12864644e-01 1.58842103e-03 9.93609103e-01 -1.61995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:-62.56, Z:-1.61 [[ 8.31189706e-01 5.49770466e-01 -8.29222974e-02 1.45313933e+02] [-5.45154734e-01 8.35177024e-01 7.27025049e-02 -6.25553547e+01] [ 1.09224488e-01 -1.52240906e-02 9.93900517e-01 -1.61161321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-62.57, Z:-1.62 [[ 8.30730013e-01 5.48148171e-01 -9.70630056e-02 1.45348453e+02] [-5.44907098e-01 8.36374469e-01 5.96154516e-02 -6.25671196e+01] [ 1.13859121e-01 3.36597578e-03 9.93491203e-01 -1.61552966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:-62.59, Z:-1.61 [[ 8.29148990e-01 5.52989213e-01 -8.19443851e-02 1.45363154e+02] [-5.48638514e-01 8.33078541e-01 7.05402415e-02 -6.25874632e+01] [ 1.07274101e-01 -1.35305243e-02 9.94137411e-01 -1.60681181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-62.60, Z:-1.61 [[ 8.28979695e-01 5.52144469e-01 -8.90457757e-02 1.45394514e+02] [-5.48862439e-01 8.33747896e-01 6.01204524e-02 -6.26012560e+01] [ 1.07436903e-01 -9.64752696e-04 9.94211437e-01 -1.60753560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-62.62, Z:-1.60 [[ 8.26092332e-01 5.57135519e-01 -8.46845441e-02 1.45417710e+02] [-5.53419166e-01 8.30396354e-01 6.45687383e-02 -6.26235299e+01] [ 1.06295274e-01 -6.47368984e-03 9.94313535e-01 -1.60236772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-62.64, Z:-1.60 [[ 8.25505502e-01 5.58493598e-01 -8.13975873e-02 1.45443484e+02] [-5.54947371e-01 8.29479091e-01 6.32285748e-02 -6.26411951e+01] [ 1.02830351e-01 -7.02415930e-03 9.94674107e-01 -1.60000099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-62.65, Z:-1.60 [[ 8.24619764e-01 5.57354888e-01 -9.67355858e-02 1.45478115e+02] [-5.55697927e-01 8.30120722e-01 4.58192156e-02 -6.26526293e+01] [ 1.05839778e-01 1.59723337e-02 9.94254910e-01 -1.60166511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:-62.68, Z:-1.59 [[ 8.22479371e-01 5.61848158e-01 -8.86246722e-02 1.45496766e+02] [-5.58463953e-01 8.27239569e-01 6.15849664e-02 -6.26796148e+01] [ 1.07915236e-01 -1.15867967e-03 9.94159424e-01 -1.59196035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-62.70, Z:-1.59 [[ 8.22798181e-01 5.62447576e-01 -8.15835562e-02 1.45521713e+02] [-5.58580758e-01 8.26782666e-01 6.64677385e-02 -6.27033641e+01] [ 1.04836489e-01 -9.11852965e-03 9.94447667e-01 -1.58525360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-62.72, Z:-1.59 [[ 8.22601442e-01 5.62020863e-01 -8.63679142e-02 1.45550516e+02] [-5.59048471e-01 8.27122675e-01 5.77311709e-02 -6.27184156e+01] [ 1.03882983e-01 7.94105938e-04 9.94589209e-01 -1.58697597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.58, Y:-62.74, Z:-1.58 [[ 8.22018798e-01 5.62531382e-01 -8.85637597e-02 1.45575905e+02] [-5.59771738e-01 8.26767537e-01 5.57767008e-02 -6.27353986e+01] [ 1.04597786e-01 3.72599307e-03 9.94507627e-01 -1.58438505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.60, Y:-62.76, Z:-1.57 [[ 8.20944710e-01 5.65605152e-01 -7.83619562e-02 1.45596639e+02] [-5.61086642e-01 8.24519487e-01 7.31395653e-02 -6.27647224e+01] [ 1.05979075e-01 -1.60756924e-02 9.94238406e-01 -1.57103693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.63, Y:-62.77, Z:-1.58 [[ 8.20551825e-01 5.64832721e-01 -8.75139931e-02 1.45626782e+02] [-5.61950902e-01 8.25201997e-01 5.70337447e-02 -6.27736493e+01] [ 1.04431247e-01 2.37942400e-03 9.94529262e-01 -1.57535133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51361786499996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:145.65, Y:-62.79, Z:-1.57 [[ 8.19678128e-01 5.65453104e-01 -9.15999704e-02 1.45653549e+02] [-5.62457542e-01 8.24771807e-01 5.82492870e-02 -6.27935976e+01] [ 1.08486313e-01 3.77542774e-03 9.94090774e-01 -1.57077429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54361786499996 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:145.68, Y:-62.81, Z:-1.57 [[ 8.19917381e-01 5.65304697e-01 -9.03664039e-02 1.45676869e+02] [-5.62687192e-01 8.24860182e-01 5.46699501e-02 -6.28098235e+01] [ 1.05444828e-01 6.02317574e-03 9.94406914e-01 -1.57145592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:-62.83, Z:-1.57 [[ 8.19907006e-01 5.65985636e-01 -8.60973957e-02 1.45695480e+02] [-5.62597845e-01 8.24411909e-01 6.18762429e-02 -6.28295490e+01] [ 1.06000783e-01 -2.29455583e-03 9.94363399e-01 -1.56514716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.72, Y:-62.86, Z:-1.55 [[ 8.19306858e-01 5.66748940e-01 -8.67865829e-02 1.45718133e+02] [-5.61925174e-01 8.23794881e-01 7.48471309e-02 -6.28588819e+01] [ 1.13913875e-01 -1.25552020e-02 9.93411292e-01 -1.55136626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.75, Y:-62.86, Z:-1.56 [[ 8.20750951e-01 5.63663774e-01 -9.30108963e-02 1.45749177e+02] [-5.61320361e-01 8.25951166e-01 5.21931505e-02 -6.28641355e+01] [ 1.06241846e-01 9.37133198e-03 9.94296157e-01 -1.56324484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.78, Y:-62.89, Z:-1.56 [[ 8.21346427e-01 5.62697934e-01 -9.36006457e-02 1.45775722e+02] [-5.60035936e-01 8.26631784e-01 5.51329760e-02 -6.28855695e+01] [ 1.08396480e-01 7.13645229e-03 9.94082126e-01 -1.55898736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:145.79, Y:-62.91, Z:-1.54 [[ 8.21485153e-01 5.63629426e-01 -8.65101937e-02 1.45792998e+02] [-5.59258333e-01 8.25970549e-01 7.07302599e-02 -6.29122047e+01] [ 1.11320528e-01 -9.72231161e-03 9.93736996e-01 -1.54490564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72361786499997 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:145.83, Y:-62.91, Z:-1.56 [[ 8.22997934e-01 5.58102661e-01 -1.05810302e-01 1.45830380e+02] [-5.57528518e-01 8.29300824e-01 3.77106783e-02 -6.29147753e+01] [ 1.08795001e-01 2.79564507e-02 9.93671014e-01 -1.56322485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75361786499997 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:145.84, Y:-62.95, Z:-1.54 [[ 8.24118970e-01 5.60780204e-01 -7.97087513e-02 1.45836233e+02] [-5.55640857e-01 8.27714619e-01 7.84330721e-02 -6.29504514e+01] [ 1.09959813e-01 -2.03487437e-02 9.93727713e-01 -1.54007804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78361786499997 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:145.87, Y:-62.96, Z:-1.55 [[ 8.25358620e-01 5.57114881e-01 -9.16851032e-02 1.45868928e+02] [-5.54004266e-01 8.30432424e-01 5.88325058e-02 -6.29597415e+01] [ 1.08914747e-01 2.23602248e-03 9.94048579e-01 -1.54553711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-62.98, Z:-1.53 [[ 8.25014012e-01 5.59439109e-01 -7.98734210e-02 1.45885760e+02] [-5.54516812e-01 8.28659970e-01 7.63790493e-02 -6.29836103e+01] [ 1.08917334e-01 -1.87226311e-02 9.93874478e-01 -1.53261944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.92, Y:-62.99, Z:-1.54 [[ 8.24859426e-01 5.57058550e-01 -9.63986495e-02 1.45919045e+02] [-5.53761961e-01 8.30466310e-01 6.06085734e-02 -6.29923945e+01] [ 1.13818355e-01 3.38835209e-03 9.93495798e-01 -1.53714087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.94, Y:-63.01, Z:-1.53 [[ 8.24247297e-01 5.58619558e-01 -9.25234203e-02 1.45944181e+02] [-5.54857714e-01 8.29421515e-01 6.47523564e-02 -6.30126322e+01] [ 1.12912848e-01 -2.03462122e-03 9.93602813e-01 -1.53298222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.97, Y:-63.03, Z:-1.53 [[ 8.23841012e-01 5.58932509e-01 -9.42360718e-02 1.45970254e+02] [-5.55112886e-01 8.29211897e-01 6.52480983e-02 -6.30305837e+01] [ 1.14610955e-01 -1.44240152e-03 9.93409406e-01 -1.52966028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.99, Y:-63.06, Z:-1.52 [[ 8.23374245e-01 5.61950042e-01 -7.91644018e-02 1.45987409e+02] [-5.56504770e-01 8.26853751e-01 8.13345913e-02 -6.30583933e+01] [ 1.11163360e-01 -2.29134405e-02 9.93537962e-01 -1.51593315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-63.06, Z:-1.53 [[ 8.23761352e-01 5.57720784e-01 -1.01807475e-01 1.46027184e+02] [-5.55627838e-01 8.29894141e-01 5.05313700e-02 -6.30595260e+01] [ 1.12671822e-01 1.49412774e-02 9.93519914e-01 -1.53018145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-63.08, Z:-1.52 [[ 8.23674755e-01 5.59166968e-01 -9.42984644e-02 1.46051035e+02] [-5.55908806e-01 8.29050592e-01 6.03366827e-02 -6.30822289e+01] [ 1.11916478e-01 2.72354445e-03 9.93713885e-01 -1.52331580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-63.10, Z:-1.52 [[ 8.22765209e-01 5.61006812e-01 -9.12620831e-02 1.46075057e+02] [-5.57351327e-01 8.27809311e-01 6.39628328e-02 -6.31001423e+01] [ 1.11431187e-01 -1.76135046e-03 9.93770591e-01 -1.52038468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.10, Y:-63.12, Z:-1.51 [[ 8.22476216e-01 5.62067153e-01 -8.72547386e-02 1.46098578e+02] [-5.57433715e-01 8.27014058e-01 7.29068005e-02 -6.31218107e+01] [ 1.13139413e-01 -1.13253763e-02 9.93514574e-01 -1.51186452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.13, Y:-63.13, Z:-1.51 [[ 8.21927400e-01 5.62066950e-01 -9.22826801e-02 1.46131034e+02] [-5.59020423e-01 8.27084465e-01 5.85444689e-02 -6.31340367e+01] [ 1.09231482e-01 3.46859969e-03 9.94010288e-01 -1.51448694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.15, Y:-63.15, Z:-1.51 [[ 8.21322863e-01 5.63305191e-01 -9.00889390e-02 1.46154752e+02] [-5.59844393e-01 8.26248547e-01 6.23505688e-02 -6.31528992e+01] [ 1.09558254e-01 -7.74160241e-04 9.93980075e-01 -1.51021100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.18, Y:-63.17, Z:-1.51 [[ 8.21115254e-01 5.63047459e-01 -9.35269921e-02 1.46184218e+02] [-5.60257358e-01 8.26401653e-01 5.63205130e-02 -6.31687064e+01] [ 1.09001983e-01 6.15355312e-03 9.94022485e-01 -1.51023071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.21, Y:-63.19, Z:-1.50 [[ 8.20320757e-01 5.65151886e-01 -8.76196400e-02 1.46208336e+02] [-5.61536889e-01 8.24980601e-01 6.39009380e-02 -6.31923804e+01] [ 1.08398239e-01 -3.21760571e-03 9.94102343e-01 -1.50213835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-63.21, Z:-1.50 [[ 8.20592451e-01 5.65213206e-01 -8.46289612e-02 1.46234303e+02] [-5.61591456e-01 8.24929354e-01 6.40827369e-02 -6.32116971e+01] [ 1.06033323e-01 -5.05890868e-03 9.94349708e-01 -1.49613771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.26, Y:-63.22, Z:-1.50 [[ 8.20399743e-01 5.63824943e-01 -9.51088586e-02 1.46264842e+02] [-5.61390627e-01 8.25837104e-01 5.32319698e-02 -6.32221838e+01] [ 1.08557937e-01 9.72172737e-03 9.94042586e-01 -1.50117395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.29, Y:-63.25, Z:-1.49 [[ 8.21023685e-01 5.65141682e-01 -8.08392709e-02 1.46285014e+02] [-5.61128242e-01 8.24926936e-01 6.80488544e-02 -6.32496757e+01] [ 1.05143736e-01 -1.05085233e-02 9.94401511e-01 -1.49020642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.32, Y:-63.26, Z:-1.50 [[ 8.21409764e-01 5.62391478e-01 -9.48779474e-02 1.46317933e+02] [-5.59973865e-01 8.26815166e-01 5.29712366e-02 -6.32591739e+01] [ 1.08237098e-01 9.61808001e-03 9.94078580e-01 -1.49516566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:-63.29, Z:-1.48 [[ 8.21109931e-01 5.65210205e-01 -7.94726707e-02 1.46333598e+02] [-5.60616985e-01 8.24793231e-01 7.36527096e-02 -6.32890537e+01] [ 1.07177784e-01 -1.59232423e-02 9.94112354e-01 -1.48101310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.37, Y:-63.30, Z:-1.48 [[ 8.21443503e-01 5.62626675e-01 -9.31761509e-02 1.46365899e+02] [-5.59459155e-01 8.26705313e-01 5.96973986e-02 -6.32994370e+01] [ 1.10616568e-01 3.09021037e-03 9.93858353e-01 -1.48499957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.39, Y:-63.32, Z:-1.48 [[ 8.22016335e-01 5.62676743e-01 -8.76585918e-02 1.46389886e+02] [-5.59094761e-01 8.26670965e-01 6.34678188e-02 -6.33219468e+01] [ 1.08176678e-01 -3.16212434e-03 9.94126656e-01 -1.47842645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.42, Y:-63.34, Z:-1.48 [[ 8.22873997e-01 5.60387540e-01 -9.40435570e-02 1.46415811e+02] [-5.56930246e-01 8.28229624e-01 6.21642213e-02 -6.33389120e+01] [ 1.12725715e-01 1.22238015e-03 9.93625392e-01 -1.47699857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-63.36, Z:-1.47 [[ 8.23022969e-01 5.60796859e-01 -9.02223628e-02 1.46440146e+02] [-5.56742454e-01 8.27936188e-01 6.75241275e-02 -6.33609300e+01] [ 1.12565678e-01 -5.34328825e-03 9.93629920e-01 -1.47050044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-63.38, Z:-1.47 [[ 8.22904784e-01 5.60733318e-01 -9.16834867e-02 1.46467510e+02] [-5.57001510e-01 8.27993783e-01 6.46189905e-02 -6.33782185e+01] [ 1.12147378e-01 -2.10743595e-03 9.93689350e-01 -1.46790780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.49, Y:-63.40, Z:-1.46 [[ 8.23922564e-01 5.59055800e-01 -9.27804998e-02 1.46493012e+02] [-5.55218994e-01 8.29126574e-01 6.54292987e-02 -6.33988444e+01] [ 1.13505407e-01 -2.39517979e-03 9.93534491e-01 -1.46092215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-63.42, Z:-1.46 [[ 8.24480592e-01 5.58249784e-01 -9.26764884e-02 1.46519303e+02] [-5.54412228e-01 8.29669062e-01 6.53936382e-02 -6.34184135e+01] [ 1.13396800e-01 -2.53480710e-03 9.93546547e-01 -1.45688978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:-63.44, Z:-1.45 [[ 8.25476931e-01 5.56564232e-01 -9.39366432e-02 1.46544572e+02] [-5.52605842e-01 8.30799739e-01 6.63217680e-02 -6.34383029e+01] [ 1.14954863e-01 -2.83715174e-03 9.93366665e-01 -1.45311599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.57, Y:-63.47, Z:-1.44 [[ 8.25840757e-01 5.57688367e-01 -8.34908956e-02 1.46565848e+02] [-5.52033600e-01 8.29765358e-01 8.21483736e-02 -6.34674780e+01] [ 1.15091045e-01 -2.17516953e-02 9.93116768e-01 -1.44008364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.60, Y:-63.48, Z:-1.44 [[ 8.25719692e-01 5.56916465e-01 -8.96160752e-02 1.46595576e+02] [-5.52271258e-01 8.30503441e-01 7.25292504e-02 -6.34816898e+01] [ 1.14819193e-01 -1.03964477e-02 9.93332002e-01 -1.43967114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:-63.48, Z:-1.45 [[ 8.27227366e-01 5.52144837e-01 -1.04071921e-01 1.46631380e+02] [-5.50822812e-01 8.33478724e-01 4.36743217e-02 -6.34826865e+01] [ 1.10856283e-01 2.11965942e-02 9.93610381e-01 -1.45253170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.65, Y:-63.51, Z:-1.44 [[ 8.27206441e-01 5.54732048e-01 -8.94531087e-02 1.46649988e+02] [-5.51130405e-01 8.32023785e-01 6.31798908e-02 -6.35121443e+01] [ 1.09475024e-01 -2.96248469e-03 9.93985132e-01 -1.44077071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-63.53, Z:-1.44 [[ 8.26660071e-01 5.55552908e-01 -8.94096996e-02 1.46675693e+02] [-5.51955449e-01 8.31476188e-01 6.31864783e-02 -6.35303553e+01] [ 1.09445468e-01 -2.88356779e-03 9.93988619e-01 -1.43745945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.70, Y:-63.55, Z:-1.43 [[ 8.26184156e-01 5.56253227e-01 -8.94543892e-02 1.46702327e+02] [-5.52652427e-01 8.31008055e-01 6.32527253e-02 -6.35490736e+01] [ 1.09521851e-01 -2.82121418e-03 9.93980385e-01 -1.43424150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:-63.57, Z:-1.43 [[ 8.25549145e-01 5.57206256e-01 -8.93856645e-02 1.46729132e+02] [-5.53612511e-01 8.30369659e-01 6.32409469e-02 -6.35675294e+01] [ 1.09461395e-01 -2.72348751e-03 9.93987317e-01 -1.43090712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.76, Y:-63.58, Z:-1.43 [[ 8.24485938e-01 5.58814278e-01 -8.91601942e-02 1.46757349e+02] [-5.55244019e-01 8.29288960e-01 6.31181451e-02 -6.35848130e+01] [ 1.09210885e-01 -2.53435849e-03 9.94015372e-01 -1.42811003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.78, Y:-63.60, Z:-1.42 [[ 8.23815676e-01 5.59610118e-01 -9.03562272e-02 1.46784182e+02] [-5.55943611e-01 8.28752253e-01 6.40031700e-02 -6.36036307e+01] [ 1.10699748e-01 -2.49384755e-03 9.93850767e-01 -1.42406178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:146.81, Y:-63.62, Z:-1.42 [[ 8.23892315e-01 5.59091023e-01 -9.28368557e-02 1.46810803e+02] [-5.56061251e-01 8.29098295e-01 5.82400495e-02 -6.36160318e+01] [ 1.09532368e-01 3.63944890e-03 9.93976567e-01 -1.42468233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.83, Y:-63.64, Z:-1.42 [[ 8.23813966e-01 5.60510471e-01 -8.46082858e-02 1.46829265e+02] [-5.56432166e-01 8.28098253e-01 6.80920514e-02 -6.36363321e+01] [ 1.08230281e-01 -9.01641110e-03 9.94084961e-01 -1.41874359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:-63.65, Z:-1.42 [[ 8.24113412e-01 5.59677321e-01 -8.71686942e-02 1.46858894e+02] [-5.56264519e-01 8.28707123e-01 6.17599215e-02 -6.36520395e+01] [ 1.06802945e-01 -2.40832786e-03 9.94277291e-01 -1.41841685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95361786499998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:146.89, Y:-63.67, Z:-1.42 [[ 8.23680635e-01 5.59296594e-01 -9.34747588e-02 1.46885580e+02] [-5.56486084e-01 8.28948320e-01 5.62842920e-02 -6.36651925e+01] [ 1.08965357e-01 5.65712107e-03 9.94029450e-01 -1.41575563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-63.69, Z:-1.41 [[ 8.25392778e-01 5.58185795e-01 -8.45894800e-02 1.46907016e+02] [-5.53955373e-01 8.29650756e-01 6.93762754e-02 -6.36886724e+01] [ 1.08904578e-01 -1.04038797e-02 9.93997763e-01 -1.40640239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.94, Y:-63.70, Z:-1.40 [[ 8.26233841e-01 5.56384730e-01 -8.81684332e-02 1.46936858e+02] [-5.52868794e-01 8.30919713e-01 6.25182176e-02 -6.37040203e+01] [ 1.08045071e-01 -2.90909173e-03 9.94141740e-01 -1.40498273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04361786499996 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:146.96, Y:-63.72, Z:-1.41 [[ 8.27549939e-01 5.55261916e-01 -8.27363440e-02 1.46958548e+02] [-5.51845928e-01 8.31657800e-01 6.17363400e-02 -6.37179493e+01] [ 1.03088164e-01 -5.43218983e-03 9.94657389e-01 -1.40507612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:-63.73, Z:-1.40 [[ 8.28537084e-01 5.52339229e-01 -9.19112472e-02 1.46984837e+02] [-5.48926516e-01 8.33619373e-01 6.13059579e-02 -6.37314774e+01] [ 1.10480682e-01 -3.41738865e-04 9.93878213e-01 -1.40118138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-63.75, Z:-1.40 [[ 8.28446329e-01 5.52773882e-01 -9.00983702e-02 1.47010828e+02] [-5.49082969e-01 8.33324201e-01 6.38644585e-02 -6.37520924e+01] [ 1.10383757e-01 -3.43679559e-03 9.93883099e-01 -1.39643452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13361786499996 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:147.03, Y:-63.76, Z:-1.40 [[ 8.28589307e-01 5.52817470e-01 -8.85020087e-02 1.47033308e+02] [-5.49754207e-01 8.33302224e-01 5.81181146e-02 -6.37649426e+01] [ 1.05877630e-01 4.98303348e-04 9.94379042e-01 -1.39682339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-63.78, Z:-1.39 [[ 8.30444042e-01 5.48605116e-01 -9.69284274e-02 1.47062956e+02] [-5.45821338e-01 8.36054514e-01 5.56050067e-02 -6.37783514e+01] [ 1.11542640e-01 6.72875736e-03 9.93736868e-01 -1.39235599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:-63.81, Z:-1.38 [[ 8.31792977e-01 5.49544722e-01 -7.82370919e-02 1.47080265e+02] [-5.44729509e-01 8.35224546e-01 7.52975473e-02 -6.38056180e+01] [ 1.06724909e-01 -2.00139184e-02 9.94087137e-01 -1.37950059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-63.83, Z:-1.36 [[ 8.30972383e-01 5.51270359e-01 -7.47388118e-02 1.47102819e+02] [-5.44997471e-01 8.33648738e-01 8.94848495e-02 -6.38312117e+01] [ 1.11636261e-01 -3.36269752e-02 9.93180030e-01 -1.36488611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:-63.84, Z:-1.37 [[ 8.31265138e-01 5.48206072e-01 -9.20237600e-02 1.47140338e+02] [-5.44536226e-01 8.36339331e-01 6.33783978e-02 -6.38350524e+01] [ 1.11707512e-01 -2.57398163e-03 9.93737796e-01 -1.37388213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:-63.85, Z:-1.37 [[ 8.30388172e-01 5.49815763e-01 -9.03222608e-02 1.47165402e+02] [-5.45564437e-01 8.35249959e-01 6.86800582e-02 -6.38542529e+01] [ 1.13203043e-01 -7.75449460e-03 9.93541614e-01 -1.36722301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-63.85, Z:-1.38 [[ 8.31529498e-01 5.45475539e-01 -1.04952991e-01 1.47203240e+02] [-5.44916760e-01 8.37696293e-01 3.64780156e-02 -6.38524577e+01] [ 1.07816596e-01 2.68580976e-02 9.93807941e-01 -1.38375269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:-63.88, Z:-1.37 [[ 8.30461131e-01 5.50029757e-01 -8.83265277e-02 1.47218659e+02] [-5.46713739e-01 8.35143084e-01 6.03333757e-02 -6.38814870e+01] [ 1.06950441e-01 -1.81519722e-03 9.94262696e-01 -1.37108283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-63.92, Z:-1.35 [[ 8.28676606e-01 5.54891824e-01 -7.34176100e-02 1.47234768e+02] [-5.48381700e-01 8.31140506e-01 9.21030453e-02 -6.39173047e+01] [ 1.12127576e-01 -3.60627653e-02 9.93039216e-01 -1.34746504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-63.92, Z:-1.36 [[ 8.26812860e-01 5.53983629e-01 -9.73788108e-02 1.47273542e+02] [-5.50686577e-01 8.32519619e-01 6.04597238e-02 -6.39156667e+01] [ 1.14563468e-01 3.63632682e-03 9.93409276e-01 -1.35824523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.30, Y:-63.94, Z:-1.35 [[ 8.27358794e-01 5.54544865e-01 -8.92043684e-02 1.47298186e+02] [-5.50033358e-01 8.32094781e-01 7.12852108e-02 -6.39411706e+01] [ 1.13757337e-01 -9.91306777e-03 9.93459108e-01 -1.34906191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.34, Y:-63.94, Z:-1.37 [[ 8.28492289e-01 5.49539013e-01 -1.07737645e-01 1.47339004e+02] [-5.49433713e-01 8.34871533e-01 3.33484532e-02 -6.39368466e+01] [ 1.08273369e-01 3.15657579e-02 9.93619887e-01 -1.36892564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:147.34, Y:-63.98, Z:-1.34 [[ 8.26721178e-01 5.58032978e-01 -7.16330207e-02 1.47342975e+02] [-5.51844527e-01 8.29089970e-01 8.98745725e-02 -6.39829461e+01] [ 1.09543194e-01 -3.47709220e-02 9.93373682e-01 -1.33733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:-63.98, Z:-1.35 [[ 8.26014747e-01 5.55179053e-01 -9.73440190e-02 1.47384198e+02] [-5.52299120e-01 8.31703233e-01 5.68806954e-02 -6.39830962e+01] [ 1.12540306e-01 6.77872282e-03 9.93624038e-01 -1.34895115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.41, Y:-63.99, Z:-1.35 [[ 8.25385076e-01 5.56018714e-01 -9.78910875e-02 1.47413338e+02] [-5.54325042e-01 8.31014080e-01 4.62530678e-02 -6.39942958e+01] [ 1.07066443e-01 1.60868893e-02 9.94121717e-01 -1.35425629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-64.02, Z:-1.34 [[ 8.24554363e-01 5.59269806e-01 -8.56001527e-02 1.47434575e+02] [-5.55805883e-01 8.28977159e-01 6.22630705e-02 -6.40199606e+01] [ 1.05782427e-01 -3.76221799e-03 9.94382182e-01 -1.34486590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-64.04, Z:-1.34 [[ 8.24185942e-01 5.59457795e-01 -8.78891790e-02 1.47462157e+02] [-5.55954340e-01 8.28854416e-01 6.25709891e-02 -6.40377453e+01] [ 1.07853162e-01 -2.70775916e-03 9.94163147e-01 -1.34006577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.49, Y:-64.05, Z:-1.34 [[ 8.23474109e-01 5.60703052e-01 -8.66168581e-02 1.47488919e+02] [-5.57305795e-01 8.28013125e-01 6.16807562e-02 -6.40544984e+01] [ 1.06304484e-01 -2.52042880e-03 9.94330430e-01 -1.33863656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-64.07, Z:-1.34 [[ 8.22527124e-01 5.61001584e-01 -9.34149492e-02 1.47517920e+02] [-5.58227135e-01 8.27792671e-01 5.60514013e-02 -6.40684832e+01] [ 1.08773135e-01 6.04296160e-03 9.94048232e-01 -1.33847057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:-64.09, Z:-1.33 [[ 8.22937484e-01 5.62144531e-01 -8.22643522e-02 1.47540020e+02] [-5.58060564e-01 8.26973513e-01 6.84340289e-02 -6.40946166e+01] [ 1.06500255e-01 -1.04084368e-02 9.94258196e-01 -1.32869143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:-64.11, Z:-1.33 [[ 8.22225877e-01 5.61880184e-01 -9.07483701e-02 1.47569895e+02] [-5.58145360e-01 8.27214636e-01 6.47279205e-02 -6.41081446e+01] [ 1.11437716e-01 -2.57018946e-03 9.93768097e-01 -1.32617513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:-64.13, Z:-1.33 [[ 8.22549589e-01 5.62174719e-01 -8.58589535e-02 1.47596681e+02] [-5.58830862e-01 8.27014954e-01 6.12726272e-02 -6.41269331e+01] [ 1.05452560e-01 -2.41914137e-03 9.94421392e-01 -1.32524481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-64.15, Z:-1.32 [[ 8.23534687e-01 5.60745666e-01 -8.57608170e-02 1.47623614e+02] [-5.57400252e-01 8.27983986e-01 6.12166448e-02 -6.41455417e+01] [ 1.05335551e-01 -2.61092945e-03 9.94433308e-01 -1.32121116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:-64.16, Z:-1.31 [[ 8.23145905e-01 5.60724873e-01 -8.95457207e-02 1.47649633e+02] [-5.57072264e-01 8.27997576e-01 6.39570727e-02 -6.41639978e+01] [ 1.10005961e-01 -2.76256511e-03 9.93927088e-01 -1.31383153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:-64.18, Z:-1.32 [[ 8.24517029e-01 5.57889516e-01 -9.45037384e-02 1.47680806e+02] [-5.55462579e-01 8.29866463e-01 5.27539343e-02 -6.41761324e+01] [ 1.07856350e-01 8.99677304e-03 9.94125780e-01 -1.31920947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-64.20, Z:-1.31 [[ 8.24795334e-01 5.60148899e-01 -7.71094610e-02 1.47696910e+02] [-5.55807660e-01 8.28236277e-01 7.14318823e-02 -6.42036689e+01] [ 1.03877343e-01 -1.60586541e-02 9.94460465e-01 -1.30751280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-64.22, Z:-1.30 [[ 8.24169125e-01 5.59396101e-01 -8.84378628e-02 1.47728073e+02] [-5.55813772e-01 8.28895062e-01 6.32773794e-02 -6.42166040e+01] [ 1.08702827e-01 -2.99628032e-03 9.94069775e-01 -1.30489681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:-64.23, Z:-1.31 [[ 8.24725972e-01 5.59114997e-01 -8.49558238e-02 1.47756083e+02] [-5.55804831e-01 8.29084896e-01 6.08212532e-02 -6.42326232e+01] [ 1.04441665e-01 -2.94200988e-03 9.94526663e-01 -1.30581499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:-64.27, Z:-1.29 [[ 8.23848868e-01 5.62977650e-01 -6.57967219e-02 1.47770669e+02] [-5.56981957e-01 8.25614294e-01 9.01783608e-02 -6.42663250e+01] [ 1.05091116e-01 -3.76457535e-02 9.93749795e-01 -1.28595750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:-64.25, Z:-1.31 [[ 8.24154086e-01 5.56432674e-01 -1.05606443e-01 1.47821822e+02] [-5.56416233e-01 8.30273003e-01 3.23684412e-02 -6.42531489e+01] [ 1.05693037e-01 3.20845562e-02 9.93881061e-01 -1.30985378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:-64.29, Z:-1.30 [[ 8.23098093e-01 5.61442822e-01 -8.53902101e-02 1.47836947e+02] [-5.58104174e-01 8.27511080e-01 6.11975812e-02 -6.42859182e+01] [ 1.05020288e-01 -2.71497964e-03 9.94466374e-01 -1.29676571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-64.30, Z:-1.29 [[ 8.22365610e-01 5.62517693e-01 -8.53735886e-02 1.47864426e+02] [-5.59182479e-01 8.26781141e-01 6.12201015e-02 -6.43043298e+01] [ 1.05022663e-01 -2.60589118e-03 9.94466414e-01 -1.29339148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-64.32, Z:-1.29 [[ 8.21343854e-01 5.63969650e-01 -8.56300600e-02 1.47890911e+02] [-5.60618310e-01 8.25791858e-01 6.14403689e-02 -6.43222443e+01] [ 1.05363110e-01 -2.45788994e-03 9.94430779e-01 -1.28976924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-64.34, Z:-1.29 [[ 8.19741021e-01 5.66314327e-01 -8.55145689e-02 1.47918724e+02] [-5.62981192e-01 8.24186461e-01 6.13909949e-02 -6.43395363e+01] [ 1.05246550e-01 -2.18162287e-03 9.94443766e-01 -1.28721380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:-64.36, Z:-1.28 [[ 8.18772175e-01 5.67690106e-01 -8.56742059e-02 1.47946066e+02] [-5.64348181e-01 8.23239813e-01 6.15413838e-02 -6.43584099e+01] [ 1.05466852e-01 -2.03829045e-03 9.94420730e-01 -1.28372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:-64.38, Z:-1.28 [[ 8.17856945e-01 5.69014405e-01 -8.56307384e-02 1.47972948e+02] [-5.65679347e-01 8.22325369e-01 6.15456297e-02 -6.43769633e+01] [ 1.05436678e-01 -1.89598052e-03 9.94424211e-01 -1.28045967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:-64.39, Z:-1.28 [[ 8.16345805e-01 5.68427200e-01 -1.02323233e-01 1.48007907e+02] [-5.66805559e-01 8.22502028e-01 4.71367483e-02 -6.43863177e+01] [ 1.10954876e-01 1.95174903e-02 9.93633777e-01 -1.28345177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:-64.42, Z:-1.27 [[ 8.15711084e-01 5.72401368e-01 -8.34991076e-02 1.48023650e+02] [-5.68184308e-01 8.19916469e-01 7.00255388e-02 -6.44174539e+01] [ 1.08545008e-01 -9.67772545e-03 9.94044427e-01 -1.27120412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-64.44, Z:-1.27 [[ 8.15111265e-01 5.74043696e-01 -7.78939091e-02 1.48047359e+02] [-5.69635909e-01 8.18692066e-01 7.25136646e-02 -6.44373899e+01] [ 1.05397137e-01 -1.47355371e-02 9.94321028e-01 -1.26560970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-64.45, Z:-1.27 [[ 8.15232327e-01 5.72672245e-01 -8.62713919e-02 1.48079086e+02] [-5.69298587e-01 8.19783048e-01 6.20876305e-02 -6.44485277e+01] [ 1.06279687e-01 -1.50166197e-03 9.94335141e-01 -1.26858856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:-64.47, Z:-1.26 [[ 8.13847680e-01 5.74725386e-01 -8.56894645e-02 1.48103775e+02] [-5.71404980e-01 8.18345380e-01 6.17024171e-02 -6.44676919e+01] [ 1.05585523e-01 -1.25298228e-03 9.94409437e-01 -1.26325399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-64.48, Z:-1.26 [[ 8.13607420e-01 5.74568217e-01 -8.89625256e-02 1.48131407e+02] [-5.71546075e-01 8.18451543e-01 5.89249942e-02 -6.44843497e+01] [ 1.06667945e-01 2.90436988e-03 9.94290458e-01 -1.26111988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-64.50, Z:-1.26 [[ 8.14683503e-01 5.73971020e-01 -8.27529969e-02 1.48156384e+02] [-5.70358534e-01 8.18858049e-01 6.45185128e-02 -6.45043824e+01] [ 1.04794714e-01 -5.36328998e-03 9.94479413e-01 -1.25803477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:-64.52, Z:-1.25 [[ 8.13442872e-01 5.75278044e-01 -8.58246277e-02 1.48182262e+02] [-5.71942744e-01 8.17956987e-01 6.18697414e-02 -6.45232338e+01] [ 1.05793158e-01 -1.24072703e-03 9.94387383e-01 -1.25278331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-64.54, Z:-1.25 [[ 8.14497853e-01 5.73777593e-01 -8.58633914e-02 1.48210264e+02] [-5.70427275e-01 8.19009846e-01 6.19321885e-02 -6.45411890e+01] [ 1.05858265e-01 -1.46481421e-03 9.94380150e-01 -1.25075254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:-64.56, Z:-1.25 [[ 8.15182017e-01 5.72771852e-01 -8.60853392e-02 1.48236308e+02] [-5.69394479e-01 8.19713209e-01 6.21303645e-02 -6.45608149e+01] [ 1.06151814e-01 -1.63103901e-03 9.94348597e-01 -1.24648077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:-64.58, Z:-1.24 [[ 8.14925835e-01 5.73251151e-01 -8.53170601e-02 1.48260884e+02] [-5.69932649e-01 8.19378182e-01 6.16130677e-02 -6.45813911e+01] [ 1.05226700e-01 -1.58510256e-03 9.94446997e-01 -1.24208043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:-64.60, Z:-1.24 [[ 8.16504268e-01 5.71029514e-01 -8.51238783e-02 1.48288982e+02] [-5.67710368e-01 8.20927341e-01 6.15080361e-02 -6.45992515e+01] [ 1.05003423e-01 -1.89586578e-03 9.94470053e-01 -1.24070666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:-64.62, Z:-1.24 [[ 8.17822259e-01 5.69300347e-01 -8.40468228e-02 1.48312033e+02] [-5.65670477e-01 8.22113703e-01 6.43892205e-02 -6.46190256e+01] [ 1.05752850e-01 -5.11613142e-03 9.94379284e-01 -1.23709800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:-64.64, Z:-1.23 [[ 8.18130809e-01 5.67976001e-01 -8.98066914e-02 1.48340966e+02] [-5.64718649e-01 8.23044491e-01 6.07504100e-02 -6.46370974e+01] [ 1.08419678e-01 1.01373132e-03 9.94104696e-01 -1.23275377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-64.66, Z:-1.23 [[ 8.18733470e-01 5.67441842e-01 -8.76656189e-02 1.48366361e+02] [-5.63889649e-01 8.23409655e-01 6.34429128e-02 -6.46584996e+01] [ 1.08184880e-01 -2.50910116e-03 9.94127626e-01 -1.22886054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-64.68, Z:-1.23 [[ 8.20260860e-01 5.65303397e-01 -8.72020113e-02 1.48392566e+02] [-5.61772678e-01 8.24878286e-01 6.31448403e-02 -6.46781477e+01] [ 1.07627038e-01 -2.80753357e-03 9.94187376e-01 -1.22687498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:-64.70, Z:-1.22 [[ 8.19947251e-01 5.65427385e-01 -8.93217685e-02 1.48418091e+02] [-5.61718580e-01 8.24793004e-01 6.47204650e-02 -6.46976120e+01] [ 1.10266693e-01 -2.89367045e-03 9.93897823e-01 -1.22063885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:-64.72, Z:-1.22 [[ 8.19813948e-01 5.65594692e-01 -8.94859556e-02 1.48444316e+02] [-5.61868752e-01 8.24678228e-01 6.48793199e-02 -6.47171748e+01] [ 1.10492518e-01 -2.90960913e-03 9.93872697e-01 -1.21717879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:-64.74, Z:-1.21 [[ 8.19533347e-01 5.65896096e-01 -9.01482172e-02 1.48469856e+02] [-5.62111919e-01 8.24471381e-01 6.53997822e-02 -6.47361855e+01] [ 1.11334107e-01 -2.92391502e-03 9.93778732e-01 -1.21232795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:-64.75, Z:-1.21 [[ 8.19532069e-01 5.66266919e-01 -8.78007067e-02 1.48496245e+02] [-5.62677455e-01 8.24217108e-01 6.37200180e-02 -6.47548795e+01] [ 1.08449383e-01 -2.81712001e-03 9.94097981e-01 -1.21006139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:-64.77, Z:-1.21 [[ 8.19077293e-01 5.66945787e-01 -8.76633508e-02 1.48522836e+02] [-5.63367630e-01 8.23750509e-01 6.36554181e-02 -6.47742591e+01] [ 1.08301901e-01 -2.75201342e-03 9.94114241e-01 -1.20677838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-64.79, Z:-1.20 [[ 8.17701700e-01 5.68448639e-01 -9.07197618e-02 1.48548829e+02] [-5.64620603e-01 8.22714402e-01 6.59134877e-02 -6.47944026e+01] [ 1.12104887e-01 -2.67532429e-03 9.93692778e-01 -1.20088839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:-64.81, Z:-1.20 [[ 8.17486895e-01 5.69096872e-01 -8.85659447e-02 1.48576200e+02] [-5.65448564e-01 8.22266511e-01 6.43871535e-02 -6.48132157e+01] [ 1.09467338e-01 -2.55616796e-03 9.93987107e-01 -1.20008602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-64.83, Z:-1.19 [[ 8.15429507e-01 5.71716607e-01 -9.06357569e-02 1.48601835e+02] [-5.67906637e-01 8.20447970e-01 6.59331484e-02 -6.48313186e+01] [ 1.12056999e-01 -2.29118689e-03 9.93699139e-01 -1.19415944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:-64.85, Z:-1.19 [[ 8.15091120e-01 5.72535522e-01 -8.84847015e-02 1.48629227e+02] [-5.68905686e-01 8.19877082e-01 6.44041291e-02 -6.48498301e+01] [ 1.09420230e-01 -2.15578400e-03 9.93993242e-01 -1.19350242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:-64.87, Z:-1.19 [[ 8.13429438e-01 5.74999631e-01 -8.77950695e-02 1.48654821e+02] [-5.71436477e-01 8.18151596e-01 6.39399559e-02 -6.48682049e+01] [ 1.08595127e-01 -1.84133717e-03 9.94084356e-01 -1.18870525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-64.89, Z:-1.19 [[ 8.12328827e-01 5.76442562e-01 -8.85203375e-02 1.48681157e+02] [-5.72824673e-01 8.17135919e-01 6.45041357e-02 -6.48885887e+01] [ 1.09516077e-01 -1.69193546e-03 9.93983585e-01 -1.18579978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-64.91, Z:-1.18 [[ 8.12257627e-01 5.76545721e-01 -8.85018572e-02 1.48707976e+02] [-5.72925682e-01 8.17063100e-01 6.45294812e-02 -6.49082619e+01] [ 1.09515798e-01 -1.70957637e-03 9.93983585e-01 -1.18206106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.93, Z:-1.18 [[ 8.11361111e-01 5.77918571e-01 -8.77682888e-02 1.48733972e+02] [-5.74364728e-01 8.16093010e-01 6.40106165e-02 -6.49264477e+01] [ 1.08620011e-01 -1.52471566e-03 9.94082174e-01 -1.17775875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-64.94, Z:-1.18 [[ 8.09725899e-01 5.79379798e-01 -9.30753399e-02 1.48762660e+02] [-5.76272165e-01 8.15042687e-01 6.01316113e-02 -6.49417102e+01] [ 1.10699416e-01 4.94660469e-03 9.93841622e-01 -1.17895693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-64.97, Z:-1.17 [[ 8.08984055e-01 5.81764470e-01 -8.42312337e-02 1.48783093e+02] [-5.77667285e-01 8.13323433e-01 6.93217143e-02 -6.49658877e+01] [ 1.08836147e-01 -7.42253337e-03 9.94031991e-01 -1.16850810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:-64.98, Z:-1.17 [[ 8.08001926e-01 5.82670705e-01 -8.73369232e-02 1.48811574e+02] [-5.79169842e-01 8.12707782e-01 6.37836557e-02 -6.49826490e+01] [ 1.08144265e-01 -9.54404559e-04 9.94134753e-01 -1.16716136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.84, Y:-65.00, Z:-1.17 [[ 8.08210129e-01 5.81840696e-01 -9.08723899e-02 1.48839586e+02] [-5.78759160e-01 8.13292219e-01 5.99466520e-02 -6.49986572e+01] [ 1.08785209e-01 4.14373668e-03 9.94056642e-01 -1.16947927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-65.02, Z:-1.17 [[ 8.08327120e-01 5.82444467e-01 -8.58237117e-02 1.48863499e+02] [-5.79012322e-01 8.12869368e-01 6.31515798e-02 -6.50205663e+01] [ 1.06545754e-01 -1.35414803e-03 9.94306878e-01 -1.16528988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.89, Y:-65.04, Z:-1.16 [[ 8.06834682e-01 5.84171414e-01 -8.80996827e-02 1.48888840e+02] [-5.80600795e-01 8.11629825e-01 6.44960819e-02 -6.50423545e+01] [ 1.09181097e-01 -8.86929882e-04 9.94021479e-01 -1.15639842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26361786499996 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:148.91, Y:-65.06, Z:-1.15 [[ 8.06541307e-01 5.84679424e-01 -8.74133301e-02 1.48910884e+02] [-5.81174238e-01 8.11264071e-01 6.39305239e-02 -6.50595498e+01] [ 1.08294156e-01 -7.60232796e-04 9.94118604e-01 -1.15468083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-64.49, Z:-0.02 [[ 8.41973551e-01 -5.26938196e-01 1.15830381e-01 1.49172990e+02] [-5.26782836e-01 -8.49300961e-01 -3.44633405e-02 -6.44948794e+01] [ 1.16534904e-01 -3.20002353e-02 -9.92670943e-01 -2.35364177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-64.50, Z:-0.03 [[ 8.80098381e-01 -4.64012857e-01 1.00592787e-01 1.49182594e+02] [-4.59969835e-01 -8.85792533e-01 -6.16387868e-02 -6.44969937e+01] [ 1.17705529e-01 7.97854876e-03 -9.93016491e-01 -2.74565006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-64.51, Z:-0.03 [[ 9.14067760e-01 -3.91910338e-01 1.04337996e-01 1.49181762e+02] [-3.88370101e-01 -9.19967888e-01 -5.31765844e-02 -6.45140655e+01] [ 1.16828059e-01 8.08524342e-03 -9.93119244e-01 -2.74721512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-64.51, Z:-0.03 [[ 9.41937434e-01 -3.22303689e-01 9.42029844e-02 1.49188381e+02] [-3.16935156e-01 -9.46029344e-01 -6.76800299e-02 -6.45145669e+01] [ 1.10932311e-01 3.38941162e-02 -9.93249823e-01 -3.11439254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-64.45, Z:-0.08 [[ 9.64021152e-01 -2.60457519e-01 5.31516570e-02 1.49218913e+02] [-2.44821337e-01 -9.47819893e-01 -2.04205688e-01 -6.44477769e+01] [ 1.03565105e-01 1.83845943e-01 -9.77483984e-01 -8.17139508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-64.51, Z:-0.04 [[ 9.80246622e-01 -1.78598413e-01 8.49656837e-02 1.49202654e+02] [-1.71316629e-01 -9.81414526e-01 -8.64646760e-02 -6.45119867e+01] [ 9.88290101e-02 7.02006721e-02 -9.92625152e-01 -3.56919577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-64.56, Z:-0.01 [[ 9.90489041e-01 -9.74160833e-02 9.71677235e-02 1.49195923e+02] [-9.63711257e-02 -9.95226310e-01 -1.54012577e-02 -6.45570611e+01] [ 9.82042051e-02 5.89061408e-03 -9.95148851e-01 -1.15426782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-64.54, Z:-0.02 [[ 9.95588396e-01 -2.56856052e-02 9.02440839e-02 1.49204385e+02] [-2.17811441e-02 -9.98794625e-01 -4.39872611e-02 -6.45368664e+01] [ 9.12651454e-02 4.18275874e-02 -9.94947801e-01 -1.97044868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:-64.41, Z:-0.11 [[ 9.95351214e-01 2.70395343e-02 9.24382215e-02 1.49214627e+02] [ 5.08344138e-02 -9.62695400e-01 -2.65769504e-01 -6.44145275e+01] [ 8.18035671e-02 2.69233041e-01 -9.59594574e-01 -1.10581794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-64.50, Z:-0.04 [[ 9.89243930e-01 1.18434936e-01 8.58464516e-02 1.49216691e+02] [ 1.25765751e-01 -9.88350675e-01 -8.57083373e-02 -6.45040777e+01] [ 7.46955369e-02 9.55829958e-02 -9.92614964e-01 -3.57368880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-64.55, Z:-0.01 [[ 9.77468967e-01 1.98519850e-01 7.17236917e-02 1.49226268e+02] [ 2.00158803e-01 -9.79626811e-01 -1.63634990e-02 -6.45460584e+01] [ 6.70139720e-02 3.03509407e-02 -9.97290303e-01 -9.93891805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-64.47, Z:-0.06 [[ 9.59551076e-01 2.60000375e-01 1.07988601e-01 1.49215163e+02] [ 2.74397574e-01 -9.49510866e-01 -1.52102225e-01 -6.44733050e+01] [ 6.29897149e-02 1.75581664e-01 -9.82447645e-01 -6.26939307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:-64.57, Z:0.00 [[ 9.35999172e-01 3.47622869e-01 5.53524249e-02 1.49246724e+02] [ 3.47171475e-01 -9.37631161e-01 1.78821680e-02 -6.45732426e+01] [ 5.81164090e-02 2.47908858e-03 -9.98306735e-01 3.39876719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.25, Y:-64.58, Z:0.01 [[ 9.06000795e-01 4.19866920e-01 5.36127745e-02 1.49254426e+02] [ 4.19292285e-01 -9.07582348e-01 2.20966415e-02 -6.45829083e+01] [ 5.79356566e-02 2.45984794e-03 -9.98317289e-01 5.24319669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-64.59, Z:0.01 [[ 8.69871914e-01 4.90543290e-01 5.18665031e-02 1.49262663e+02] [ 4.89842238e-01 -8.71413243e-01 2.63352009e-02 -6.45919667e+01] [ 5.81157138e-02 2.49815230e-03 -9.98306728e-01 6.90200991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:-64.60, Z:0.01 [[ 8.28241549e-01 5.58207820e-01 4.91931565e-02 1.49270436e+02] [ 5.57406050e-01 -8.29697222e-01 3.00169219e-02 -6.46010929e+01] [ 5.75711058e-02 2.55930116e-03 -9.98338128e-01 8.19107351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-64.61, Z:0.01 [[ 7.80386248e-01 6.23547174e-01 4.67570958e-02 1.49279682e+02] [ 6.22633089e-01 -7.81781097e-01 3.38578326e-02 -6.46083151e+01] [ 5.76657695e-02 2.69032805e-03 -9.98332320e-01 1.00688379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-64.62, Z:0.01 [[ 7.28283354e-01 6.84025239e-01 4.13863289e-02 1.49291993e+02] [ 6.83139794e-01 -7.29452779e-01 3.49093867e-02 -6.46176740e+01] [ 5.40682743e-02 2.84872293e-03 -9.98533177e-01 1.00608761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.31, Y:-64.63, Z:0.01 [[ 6.71530393e-01 7.39931151e-01 3.93550909e-02 1.49305577e+02] [ 7.38906998e-01 -6.72676467e-01 3.90233013e-02 -6.46279301e+01] [ 5.53477998e-02 2.87441924e-03 -9.98462998e-01 1.31663526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:-64.64, Z:0.02 [[ 6.10429634e-01 7.91173826e-01 3.76780838e-02 1.49318577e+02] [ 7.89952221e-01 -6.11584573e-01 4.40431372e-02 -6.46364713e+01] [ 5.78891122e-02 2.87864981e-03 -9.98318869e-01 1.53706879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.33, Y:-64.64, Z:0.02 [[ 5.44868203e-01 8.37813772e-01 3.44488828e-02 1.49330920e+02] [ 8.36475394e-01 -5.45948029e-01 4.74306370e-02 -6.46427684e+01] [ 5.85453406e-02 2.97219687e-03 -9.98280326e-01 1.97817986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-64.66, Z:0.03 [[ 4.74882267e-01 8.80032094e-01 5.50870389e-03 1.49357658e+02] [ 8.77758444e-01 -4.74088163e-01 6.91413614e-02 -6.46611018e+01] [ 6.34582284e-02 -2.79986951e-02 -9.97591663e-01 2.92380395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:-64.70, Z:0.07 [[ 4.05707116e-01 9.04483027e-01 -1.31575797e-01 1.49448144e+02] [ 9.11324415e-01 -3.89291455e-01 1.33940185e-01 -6.47037185e+01] [ 6.99252907e-02 -1.74248722e-01 -9.82215779e-01 6.64647719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-64.66, Z:0.02 [[ 3.30370019e-01 9.43277794e-01 3.29037160e-02 1.49360669e+02] [ 9.41002882e-01 -3.31879142e-01 6.61045385e-02 -6.46623125e+01] [ 7.32750003e-02 9.12353400e-03 -9.97270041e-01 2.06140226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:-64.65, Z:0.01 [[ 2.51645053e-01 9.66186327e-01 5.62027488e-02 1.49339748e+02] [ 9.65203397e-01 -2.54808286e-01 5.87804325e-02 -6.46540101e+01] [ 7.11137763e-02 3.94552791e-02 -9.96687570e-01 8.61465144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-64.65, Z:0.01 [[ 1.75491925e-01 9.82297603e-01 6.55286404e-02 1.49327645e+02] [ 9.81947809e-01 -1.79423961e-01 5.98794031e-02 -6.46508533e+01] [ 7.05768024e-02 5.38373532e-02 -9.96052436e-01 8.26969441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-64.66, Z:0.02 [[ 9.78676231e-02 9.94885306e-01 2.50031392e-02 1.49359466e+02] [ 9.92967039e-01 -9.92991154e-02 6.44681792e-02 -6.46564165e+01] [ 6.66212338e-02 1.85179457e-02 -9.97606484e-01 2.33813925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:-64.65, Z:-0.01 [[ 1.86377101e-02 9.93894477e-01 1.08749271e-01 1.49316053e+02] [ 9.98088711e-01 -2.49046658e-02 5.65569009e-02 -6.46506611e+01] [ 5.89199558e-02 1.07487328e-01 -9.92459023e-01 -1.08817527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:-64.65, Z:-0.02 [[-5.70351548e-02 9.88072457e-01 1.43037798e-01 1.49304315e+02] [ 9.97051856e-01 4.90062640e-02 5.90422073e-02 -6.46493302e+01] [ 5.13282308e-02 1.45983583e-01 -9.87954557e-01 -2.10916771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:149.40, Y:-64.66, Z:0.02 [[-1.34322002e-01 9.90441609e-01 3.13531351e-02 1.49401199e+02] [ 9.89756209e-01 1.32550064e-01 5.30389197e-02 -6.46603141e+01] [ 4.83760929e-02 3.81562541e-02 -9.98100122e-01 1.88164604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:-64.69, Z:0.03 [[-2.07691901e-01 9.78164489e-01 -7.63584607e-03 1.49466675e+02] [ 9.77041444e-01 2.07819678e-01 4.69147884e-02 -6.46935473e+01] [ 4.74772591e-02 2.28328353e-03 -9.98869709e-01 3.38186056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:-64.71, Z:0.03 [[-2.82514586e-01 9.59200105e-01 -1.09849015e-02 1.49510264e+02] [ 9.58138859e-01 2.82719237e-01 4.51636900e-02 -6.47091186e+01] [ 4.64266592e-02 2.23434019e-03 -9.98919202e-01 3.32760181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:-64.73, Z:0.03 [[-3.54784326e-01 9.34851567e-01 -1.34398450e-02 1.49559021e+02] [ 9.33932308e-01 3.55032146e-01 4.15044433e-02 -6.47320364e+01] [ 4.35720708e-02 2.17322050e-03 -9.99047923e-01 3.16633143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:-64.74, Z:0.03 [[-4.25840677e-01 9.04626730e-01 -1.76124370e-02 1.49604796e+02] [ 9.03641870e-01 4.26199678e-01 4.22516944e-02 -6.47383332e+01] [ 4.57284271e-02 2.07715467e-03 -9.98951749e-01 3.35487785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:-64.73, Z:0.03 [[-4.94221235e-01 8.69075152e-01 -2.13014365e-02 1.49643494e+02] [ 8.68088534e-01 4.94676065e-01 4.14474057e-02 -6.47336400e+01] [ 4.65582212e-02 1.99265522e-03 -9.98913591e-01 3.27928668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:-64.73, Z:0.03 [[-5.60725825e-01 8.27659831e-01 -2.37855613e-02 1.49687724e+02] [ 8.26759483e-01 5.61226498e-01 3.86467928e-02 -6.47324554e+01] [ 4.53354852e-02 2.00531641e-03 -9.98969806e-01 3.33183053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:-64.74, Z:0.03 [[-6.22374777e-01 7.82253745e-01 -2.69947501e-02 1.49739515e+02] [ 7.81382618e-01 6.22957014e-01 3.69562452e-02 -6.47376862e+01] [ 4.57257300e-02 1.90740636e-03 -9.98952211e-01 3.29078784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-64.73, Z:0.03 [[-6.81096467e-01 7.31603595e-01 -2.93901836e-02 1.49786680e+02] [ 7.30802133e-01 6.81727708e-01 3.42866572e-02 -6.47330700e+01] [ 4.51203442e-02 1.87411225e-03 -9.98979801e-01 3.31470078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.83, Y:-64.73, Z:0.03 [[-7.35465601e-01 6.76838184e-01 -3.13116918e-02 1.49834570e+02] [ 6.76117859e-01 7.36129560e-01 3.12715871e-02 -6.47263024e+01] [ 4.42152662e-02 1.82878258e-03 -9.99020353e-01 3.34964786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:-64.73, Z:0.03 [[-7.85297560e-01 6.18286865e-01 -3.20795140e-02 1.49896967e+02] [ 6.17676576e-01 7.85950454e-01 2.75232882e-02 -6.47253271e+01] [ 4.22301962e-02 1.79920663e-03 -9.99106287e-01 3.32489169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:149.97, Y:-64.70, Z:0.04 [[-8.32199831e-01 5.52332715e-01 -4.87033253e-02 1.49970439e+02] [ 5.53496654e-01 8.32737149e-01 -1.37947736e-02 -6.47025682e+01] [ 3.29377635e-02 -3.84371359e-02 -9.98718023e-01 3.97507897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:-64.56, Z:0.09 [[-8.69908840e-01 4.61278605e-01 -1.74587109e-01 1.50073203e+02] [ 4.90230353e-01 8.47533161e-01 -2.03375864e-01 -6.45557817e+01] [ 5.41554296e-02 -2.62506362e-01 -9.63409362e-01 9.26888669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:-64.05, Z:-1.12 [[-8.93027936e-01 -4.47930995e-01 4.31152967e-02 1.50238453e+02] [ 4.47333987e-01 -8.94067041e-01 -2.31609591e-02 -6.40497053e+01] [ 4.89224772e-02 -1.39644594e-03 9.98801603e-01 -1.11513690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:-64.05, Z:-1.12 [[-8.92475902e-01 -4.48968858e-01 4.37461869e-02 1.50244309e+02] [ 4.48399947e-01 -8.93547232e-01 -2.26015976e-02 -6.40533700e+01] [ 4.92366977e-02 -5.55593325e-04 9.98786984e-01 -1.11530148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-64.07, Z:-1.12 [[-8.93300397e-01 -4.47084151e-01 4.61536933e-02 1.50270298e+02] [ 4.46414663e-01 -8.94490994e-01 -2.44910200e-02 -6.40689229e+01] [ 5.22336099e-02 -1.27415247e-03 9.98634080e-01 -1.11641038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:-64.06, Z:-1.12 [[-8.92439178e-01 -4.49023659e-01 4.39325293e-02 1.50248199e+02] [ 4.48420402e-01 -8.93519206e-01 -2.32931723e-02 -6.40551497e+01] [ 4.97137442e-02 -1.08749707e-03 9.98762915e-01 -1.11570064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.26, Y:-64.06, Z:-1.12 [[-8.92598101e-01 -4.48415559e-01 4.68200473e-02 1.50259988e+02] [ 4.47730725e-01 -8.93824428e-01 -2.48010149e-02 -6.40625623e+01] [ 5.29700629e-02 -1.17456505e-03 9.98595410e-01 -1.11686903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:-64.68, Z:0.02 [[-9.07657232e-01 4.16643485e-01 -5.06611936e-02 1.50046629e+02] [ 4.15799383e-01 9.09064454e-01 2.66962723e-02 -6.46830356e+01] [ 5.71771182e-02 3.16617156e-03 -9.98359030e-01 1.74408143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.02, Y:-64.64, Z:0.02 [[-9.37491818e-01 3.43755979e-01 -5.42302372e-02 1.50019042e+02] [ 3.42417776e-01 9.38982621e-01 3.25838096e-02 -6.46366887e+01] [ 6.21221297e-02 1.19776577e-02 -9.97996682e-01 2.36167561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:-64.65, Z:0.00 [[-9.61903007e-01 2.71093229e-01 -3.53704004e-02 1.50121357e+02] [ 2.68392402e-01 9.61006287e-01 6.65765367e-02 -6.46522183e+01] [ 5.20396255e-02 5.45470241e-02 -9.97154200e-01 1.03209286e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.17, Y:-64.57, Z:0.03 [[-9.80104269e-01 1.90153359e-01 -5.68974631e-02 1.50169352e+02] [ 1.91938076e-01 9.81016172e-01 -2.76955675e-02 -6.45697981e+01] [ 5.05509263e-02 -3.80653335e-02 -9.97995809e-01 3.19894749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-64.39, Z:0.08 [[-9.91336967e-01 9.26427499e-02 -9.31039140e-02 1.50222218e+02] [ 1.14702051e-01 9.55989134e-01 -2.70052244e-01 -6.43880147e+01] [ 6.39879476e-02 -2.78391982e-01 -9.58333682e-01 8.35574321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-63.83, Z:-1.11 [[-9.93993272e-01 -8.19363986e-02 7.25520562e-02 1.50189955e+02] [ 7.87965639e-02 -9.95868443e-01 -4.51347553e-02 -6.38346035e+01] [ 7.59504825e-02 -3.91467904e-02 9.96342839e-01 -1.10736182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:-63.85, Z:-1.12 [[-9.93913281e-01 -8.05904677e-02 7.51103597e-02 1.50182811e+02] [ 7.99913011e-02 -9.96735344e-01 -1.09565566e-02 -6.38534084e+01] [ 7.57481442e-02 -4.88169172e-03 9.97115032e-01 -1.11939180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:-64.66, Z:-0.10 [[-9.97250225e-01 5.58172621e-02 -4.87485556e-02 1.50204788e+02] [ 4.05842890e-02 9.61735568e-01 2.70956848e-01 -6.46595042e+01] [ 6.20072892e-02 2.68233352e-01 -9.61356315e-01 -9.65490943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:-64.31, Z:0.10 [[-9.96254660e-01 -5.29550643e-02 -6.83550566e-02 1.50136693e+02] [-3.11475250e-02 9.57239947e-01 -2.87613484e-01 -6.43062379e+01] [ 8.06627812e-02 -2.84407183e-01 -9.55304177e-01 9.68015254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:-64.46, Z:0.00 [[-9.89700039e-01 -1.11940151e-01 -8.92369659e-02 1.50257220e+02] [-1.15241681e-01 9.92798118e-01 3.27299918e-02 -6.44573418e+01] [ 8.49304915e-02 4.26766921e-02 -9.95472507e-01 1.02378898e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:-64.39, Z:0.01 [[-9.77337388e-01 -1.94472651e-01 -8.36182939e-02 1.50276048e+02] [-1.94177509e-01 9.80896314e-01 -1.17267076e-02 -6.43902091e+01] [ 8.43014002e-02 4.77584224e-03 -9.96428856e-01 1.39886306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:-64.33, Z:0.02 [[-9.58585119e-01 -2.77445879e-01 -6.43300452e-02 1.50298014e+02] [-2.75477454e-01 9.60561831e-01 -3.78568613e-02 -6.43302218e+01] [ 7.22962161e-02 -1.85675468e-02 -9.97210361e-01 1.54994970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-63.79, Z:-1.10 [[-9.56338452e-01 2.84783738e-01 6.56885620e-02 1.49697308e+02] [-2.84814456e-01 -9.58539516e-01 9.09518514e-03 -6.37913125e+01] [ 6.55552432e-02 -1.00109768e-02 9.97798722e-01 -1.10027196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-63.71, Z:-1.12 [[-9.55549934e-01 2.85662803e-01 7.29457837e-02 1.49991785e+02] [-2.84851984e-01 -9.58330169e-01 2.15089657e-02 -6.37104346e+01] [ 7.60504566e-02 -2.25860393e-04 9.97103945e-01 -1.12178257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.29, Y:-64.28, Z:0.02 [[-9.31995452e-01 -3.56483569e-01 -6.56044401e-02 1.50288212e+02] [-3.53650025e-01 9.33983367e-01 -5.10561398e-02 -6.42830545e+01] [ 7.94741308e-02 -2.43830782e-02 -9.96538674e-01 2.04574220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:149.95, Y:-63.66, Z:-1.10 [[-9.31136037e-01 3.49959705e-01 1.02537240e-01 1.49952877e+02] [-3.52909408e-01 -9.35585589e-01 -1.15997900e-02 -6.36605023e+01] [ 9.18729052e-02 -4.69873392e-02 9.94661530e-01 -1.10200203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:150.32, Y:-64.59, Z:-0.75 [[-9.27528749e-01 -5.31298194e-02 -3.69956271e-01 1.50316518e+02] [-3.73311838e-01 1.79710600e-01 9.10133162e-01 -6.45853678e+01] [ 1.81298529e-02 9.82283728e-01 -1.86520739e-01 -7.52983512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:-63.69, Z:-1.10 [[-9.30129335e-01 3.67134038e-01 8.48634755e-03 1.49957764e+02] [-3.67118682e-01 -9.30168048e-01 3.35781451e-03 -6.36876769e+01] [ 9.12649733e-03 7.70505349e-06 9.99958353e-01 -1.09844212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:149.95, Y:-63.69, Z:-1.10 [[-9.30453557e-01 3.66296064e-01 9.13083134e-03 1.49952592e+02] [-3.66278290e-01 -9.30498358e-01 3.60846443e-03 -6.36913926e+01] [ 9.81798988e-03 1.30832781e-05 9.99951802e-01 -1.09885550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.22, Y:-64.27, Z:0.05 [[-8.98535294e-01 -4.38541603e-01 -1.77647903e-02 1.50224806e+02] [-4.38482560e-01 8.98710048e-01 -7.30030011e-03 -6.42697321e+01] [ 1.91668808e-02 1.22997341e-03 -9.99815542e-01 5.07009909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-64.23, Z:0.05 [[-8.62551107e-01 -5.05706725e-01 -1.63185965e-02 1.50221666e+02] [-5.05641894e-01 8.62704635e-01 -8.18457560e-03 -6.42295297e+01] [ 1.82171237e-02 1.19175129e-03 -9.99833344e-01 5.07928214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33361786499998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:149.85, Y:-63.63, Z:-1.08 [[-8.61872992e-01 5.04906842e-01 4.73711493e-02 1.49853663e+02] [-5.05970683e-01 -8.62449502e-01 -1.32108142e-02 -6.36335271e+01] [ 3.41849936e-02 -3.53544566e-02 9.98789992e-01 -1.07552482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:150.27, Y:-64.47, Z:-0.83 [[-8.70129497e-01 -5.24536482e-02 -4.90023747e-01 1.50267607e+02] [-4.90356229e-01 -7.21531110e-03 8.71492231e-01 -6.44675733e+01] [-4.92486207e-02 9.98597293e-01 -1.94427181e-02 -8.26324454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-63.65, Z:-1.04 [[-8.55911340e-01 5.17035251e-01 -9.50404910e-03 1.49815663e+02] [-5.16072261e-01 -8.55199401e-01 -4.79938122e-02 -6.36502743e+01] [-3.29423498e-02 -3.61736720e-02 9.98802416e-01 -1.04345264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-64.51, Z:-0.78 [[-8.61153415e-01 -1.23388594e-01 -4.93143032e-01 1.50222671e+02] [-4.96196310e-01 -6.78872330e-03 8.68183814e-01 -6.45070036e+01] [-1.10471792e-01 9.92335210e-01 -5.53788329e-02 -7.76744968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:149.77, Y:-63.69, Z:-1.03 [[-8.43058365e-01 5.31447148e-01 -8.25622281e-02 1.49770021e+02] [-5.26853536e-01 -8.46920724e-01 -7.17679546e-02 -6.36887718e+01] [-1.08064537e-01 -1.70063726e-02 9.93998410e-01 -1.02643416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.15, Y:-64.55, Z:-0.77 [[-8.43852676e-01 -1.55797461e-01 -5.13458676e-01 1.50146309e+02] [-5.09253470e-01 -6.89167094e-02 8.57852779e-01 -6.45496428e+01] [-1.69037167e-01 9.85381976e-01 -2.11848481e-02 -7.73044143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51361786499996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:149.71, Y:-63.74, Z:-1.02 [[-8.31775538e-01 5.32167354e-01 -1.57947340e-01 1.49708180e+02] [-5.23525747e-01 -8.46633140e-01 -9.55673473e-02 -6.37391983e+01] [-1.84581274e-01 3.19891728e-03 9.82812047e-01 -1.01644337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:149.70, Y:-63.73, Z:-1.00 [[-8.34704639e-01 5.33942332e-01 -1.34810061e-01 1.49696138e+02] [-5.23696484e-01 -8.45339515e-01 -1.05560869e-01 -6.37313871e+01] [-1.70323688e-01 -1.75125921e-02 9.85232536e-01 -1.00073703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:150.05, Y:-64.61, Z:-0.74 [[-8.37991980e-01 -2.32901081e-01 -4.93484071e-01 1.50053089e+02] [-4.91468299e-01 -7.08535018e-02 8.68008464e-01 -6.46050206e+01] [-2.37125184e-01 9.69915908e-01 -5.50888315e-02 -7.41265559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:149.55, Y:-64.45, Z:0.12 [[-7.96438414e-01 -5.10300661e-01 3.24467391e-01 1.49553953e+02] [-5.48817259e-01 8.35272122e-01 -3.34678662e-02 -6.44492888e+01] [-2.53939892e-01 -2.04728399e-01 -9.45304614e-01 1.20728568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:149.44, Y:-63.84, Z:-1.03 [[-7.85465419e-01 5.96449458e-01 -1.65203268e-01 1.49444855e+02] [-5.76926149e-01 -8.02254584e-01 -1.53439896e-01 -6.38362571e+01] [-2.24054222e-01 -2.52116472e-02 9.74250521e-01 -1.03229424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:-64.72, Z:-0.75 [[-7.86576520e-01 -2.98304845e-01 -5.40658485e-01 1.49848940e+02] [-5.47235320e-01 -6.88654741e-02 8.34140906e-01 -6.47192353e+01] [-2.86060977e-01 9.51983070e-01 -1.09074983e-01 -7.48271015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:149.27, Y:-64.56, Z:0.08 [[-7.42909091e-01 -5.32128365e-01 4.06110188e-01 1.49272648e+02] [-5.98504607e-01 7.99742101e-01 -4.69553787e-02 -6.45582998e+01] [-2.99797126e-01 -2.77942396e-01 -9.12616955e-01 7.56280487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-63.97, Z:-1.09 [[-7.30135776e-01 6.55124624e-01 -1.94199578e-01 1.49195525e+02] [-6.27809744e-01 -7.55367710e-01 -1.87815196e-01 -6.39722120e+01] [-2.69734450e-01 -1.52102071e-02 9.62814611e-01 -1.08803046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:149.65, Y:-64.84, Z:-0.77 [[-7.28988628e-01 -3.60908135e-01 -5.81653590e-01 1.49650393e+02] [-5.99358644e-01 -7.39416804e-02 7.97058244e-01 -6.48439388e+01] [-3.30673248e-01 9.29665502e-01 -1.62410766e-01 -7.70181446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.96, Y:-64.67, Z:0.01 [[-6.83871459e-01 -5.17746943e-01 5.14060240e-01 1.48961776e+02] [-6.47522099e-01 7.55373298e-01 -1.00629581e-01 -6.46680686e+01] [-3.36206721e-01 -4.01683064e-01 -8.51830826e-01 7.64508862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:-64.12, Z:-1.16 [[-6.72559260e-01 7.08046664e-01 -2.15253255e-01 1.48961359e+02] [-6.72790345e-01 -7.06156498e-01 -2.20672046e-01 -6.41223031e+01] [-3.08248591e-01 -3.59471627e-03 9.51299051e-01 -1.15863187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.96, Y:-64.13, Z:-1.17 [[-6.74755132e-01 7.03676670e-01 -2.22586286e-01 1.48958581e+02] [-6.70073381e-01 -7.10508226e-01 -2.14894683e-01 -6.41332713e+01] [-3.09365763e-01 4.14785495e-03 9.50934078e-01 -1.16559447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-64.14, Z:-1.17 [[-6.76296990e-01 7.01817856e-01 -2.23772381e-01 1.48954647e+02] [-6.67821517e-01 -7.12347906e-01 -2.15812146e-01 -6.41380301e+01] [-3.10864604e-01 3.48690615e-03 9.50447810e-01 -1.16732612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-64.14, Z:-1.17 [[-6.77664662e-01 7.00498179e-01 -2.23769766e-01 1.48950403e+02] [-6.66564260e-01 -7.13647088e-01 -2.15406408e-01 -6.41429636e+01] [-3.10584438e-01 3.18361773e-03 9.50540463e-01 -1.16917302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-64.15, Z:-1.17 [[-6.79466721e-01 6.98681575e-01 -2.23984445e-01 1.48943775e+02] [-6.64659846e-01 -7.15428309e-01 -2.15382506e-01 -6.41505088e+01] [-3.10728601e-01 2.52822098e-03 9.50495315e-01 -1.17327165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-64.15, Z:-1.17 [[-6.80096862e-01 6.97981898e-01 -2.24253269e-01 1.48942067e+02] [-6.63914964e-01 -7.16111429e-01 -2.15409707e-01 -6.41528323e+01] [-3.10942405e-01 2.38563490e-03 9.50425762e-01 -1.17441224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-64.16, Z:-1.18 [[-6.80559905e-01 6.97459063e-01 -2.24475101e-01 1.48938369e+02] [-6.63371062e-01 -7.16620859e-01 -2.15391221e-01 -6.41565410e+01] [-3.11090099e-01 2.32365740e-03 9.50377583e-01 -1.17629472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-64.16, Z:-1.18 [[-6.80855704e-01 6.97037128e-01 -2.24888310e-01 1.48937156e+02] [-6.62873877e-01 -7.17031314e-01 -2.15555837e-01 -6.41577630e+01] [-3.11502382e-01 2.31016483e-03 9.50242563e-01 -1.17668389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-64.16, Z:-1.18 [[-6.80762374e-01 6.97012955e-01 -2.25245490e-01 1.48932972e+02] [-6.62813100e-01 -7.17054252e-01 -2.15666397e-01 -6.41609019e+01] [-3.11835510e-01 2.47809300e-03 9.50132872e-01 -1.17804869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-64.16, Z:-1.18 [[-6.80699901e-01 6.96935606e-01 -2.25673229e-01 1.48928841e+02] [-6.62674174e-01 -7.17128919e-01 -2.15844975e-01 -6.41640840e+01] [-3.12266847e-01 2.62216797e-03 9.49990811e-01 -1.17953712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-64.17, Z:-1.18 [[-6.80825397e-01 6.96831576e-01 -2.25615897e-01 1.48925582e+02] [-6.62673318e-01 -7.17229399e-01 -2.15513484e-01 -6.41661682e+01] [-3.11994955e-01 2.78258177e-03 9.50079684e-01 -1.18037526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-64.17, Z:-1.18 [[-6.80460995e-01 6.97023973e-01 -2.26120355e-01 1.48920723e+02] [-6.62802677e-01 -7.17041254e-01 -2.15741631e-01 -6.41690472e+01] [-3.12514712e-01 3.06941215e-03 9.49907961e-01 -1.18264639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-64.17, Z:-1.18 [[-6.80414860e-01 6.96973624e-01 -2.26414190e-01 1.48917741e+02] [-6.62734389e-01 -7.17089510e-01 -2.15791020e-01 -6.41712081e+01] [-3.12759890e-01 3.22505338e-03 9.49826748e-01 -1.18402431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.91, Y:-64.18, Z:-1.19 [[-6.80088803e-01 6.97166159e-01 -2.26800723e-01 1.48912550e+02] [-6.62900964e-01 -7.16900982e-01 -2.15905752e-01 -6.41761643e+01] [-3.13115845e-01 3.51133347e-03 9.49708449e-01 -1.18707325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:-64.18, Z:-1.19 [[-6.78932406e-01 6.98226349e-01 -2.27003861e-01 1.48911630e+02] [-6.64032068e-01 -7.15864867e-01 -2.15867795e-01 -6.41769286e+01] [-3.13228671e-01 4.17820135e-03 9.49668543e-01 -1.18799104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:148.91, Y:-64.18, Z:-1.19 [[-6.78791565e-01 6.98338059e-01 -2.27081411e-01 1.48908050e+02] [-6.64202107e-01 -7.15754530e-01 -2.15710486e-01 -6.41792343e+01] [-3.13173391e-01 4.40549362e-03 9.49685747e-01 -1.18998441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-64.18, Z:-1.19 [[-6.78607556e-01 6.98634952e-01 -2.26717863e-01 1.48904965e+02] [-6.64702581e-01 -7.15462820e-01 -2.15135844e-01 -6.41813997e+01] [-3.12509622e-01 4.70713957e-03 9.49902931e-01 -1.19107613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-64.18, Z:-1.19 [[-6.78139374e-01 6.99161288e-01 -2.26496098e-01 1.48900353e+02] [-6.65408035e-01 -7.14945552e-01 -2.14674184e-01 -6.41833561e+01] [-3.12024257e-01 5.13330709e-03 9.50060268e-01 -1.19328083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-64.19, Z:-1.20 [[-6.77891498e-01 6.99331512e-01 -2.26712492e-01 1.48895436e+02] [-6.65596643e-01 -7.14777161e-01 -2.14650225e-01 -6.41872406e+01] [-3.12160577e-01 5.38951084e-03 9.50014067e-01 -1.19562496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-64.19, Z:-1.20 [[-6.77935739e-01 6.99221202e-01 -2.26920346e-01 1.48889924e+02] [-6.65499604e-01 -7.14883970e-01 -2.14595401e-01 -6.41920897e+01] [-3.12271372e-01 5.53350891e-03 9.49976826e-01 -1.19819085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.20, Z:-1.20 [[-6.79237543e-01 6.97723283e-01 -2.27636949e-01 1.48884160e+02] [-6.63777070e-01 -7.16349680e-01 -2.15042174e-01 -6.41995176e+01] [-3.13107587e-01 5.03546878e-03 9.49704313e-01 -1.20123964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-64.20, Z:-1.20 [[-6.80540742e-01 6.96482439e-01 -2.27544525e-01 1.48886999e+02] [-6.62572748e-01 -7.17558862e-01 -2.14724552e-01 -6.41976969e+01] [-3.12828470e-01 4.63599547e-03 9.49798324e-01 -1.20045511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.21, Z:-1.20 [[-6.81641889e-01 6.95494262e-01 -2.27270908e-01 1.48879451e+02] [-6.61690044e-01 -7.18518482e-01 -2.14236965e-01 -6.42053071e+01] [-3.12298928e-01 4.35000746e-03 9.49973924e-01 -1.20429600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.21, Z:-1.20 [[-6.83309322e-01 6.94157572e-01 -2.26348483e-01 1.48879266e+02] [-6.60636971e-01 -7.19812549e-01 -2.13140065e-01 -6.42074029e+01] [-3.10881268e-01 3.89358282e-03 9.50440780e-01 -1.20469172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:148.87, Y:-64.21, Z:-1.21 [[-6.83769497e-01 6.93782246e-01 -2.26109419e-01 1.48874108e+02] [-6.60388656e-01 -7.20174321e-01 -2.12687022e-01 -6.42121677e+01] [-3.10396678e-01 3.89119690e-03 9.50599159e-01 -1.20707052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.87, Y:-64.21, Z:-1.21 [[-6.83993575e-01 6.93612563e-01 -2.25952212e-01 1.48872777e+02] [-6.60331772e-01 -7.20337243e-01 -2.12311581e-01 -6.42135770e+01] [-3.10023774e-01 3.98366686e-03 9.50720459e-01 -1.20772700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:148.87, Y:-64.21, Z:-1.21 [[-6.83870503e-01 6.93745987e-01 -2.25915120e-01 1.48872226e+02] [-6.60557617e-01 -7.20207424e-01 -2.12049290e-01 -6.42147879e+01] [-3.09814091e-01 4.21569894e-03 9.50787809e-01 -1.20825099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:148.85, Y:-64.20, Z:-1.18 [[-6.91388874e-01 6.98579397e-01 -1.84304779e-01 1.48849106e+02] [-6.62136505e-01 -7.14739572e-01 -2.25216769e-01 -6.42046746e+01] [-2.89061713e-01 -3.36774460e-02 9.56717908e-01 -1.18492405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:149.35, Y:-65.08, Z:-0.88 [[-6.77642331e-01 -4.00595740e-01 -6.16704081e-01 1.49350173e+02] [-6.36828492e-01 -9.97181833e-02 7.64529761e-01 -6.50793454e+01] [-3.67763976e-01 9.10812460e-01 -1.87537519e-01 -8.78214796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:149.25, Y:-65.16, Z:-0.90 [[-6.49601968e-01 -4.41099451e-01 -6.19232232e-01 1.49254978e+02] [-6.28766643e-01 -1.46177193e-01 7.63730801e-01 -6.51602402e+01] [-4.27398867e-01 8.85473603e-01 -1.82391629e-01 -8.98978279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:-64.46, Z:-1.29 [[-6.25912856e-01 7.17346769e-01 -3.06017499e-01 1.48592200e+02] [-6.49675713e-01 -6.96666053e-01 -3.04266132e-01 -6.44632459e+01] [-4.31456330e-01 8.36805324e-03 9.02095012e-01 -1.29058302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:-64.37, Z:-1.23 [[-6.23572667e-01 7.18210011e-01 -3.08758012e-01 1.48685135e+02] [-6.49514622e-01 -6.95764046e-01 -3.06664554e-01 -6.43735173e+01] [-4.35072276e-01 9.31521007e-03 9.00347345e-01 -1.23095865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-64.38, Z:-1.24 [[-6.21675498e-01 7.19680130e-01 -3.09160292e-01 1.48678598e+02] [-6.51344094e-01 -6.94219268e-01 -3.06284965e-01 -6.43807343e+01] [-4.35052234e-01 1.09598718e-02 9.00338511e-01 -1.23546680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-64.38, Z:-1.24 [[-6.21542758e-01 7.19706857e-01 -3.09364900e-01 1.48676331e+02] [-6.51475061e-01 -6.94186094e-01 -3.06081544e-01 -6.43838564e+01] [-4.35045797e-01 1.13007498e-02 9.00337407e-01 -1.23751432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-64.39, Z:-1.24 [[-6.21980307e-01 7.19185320e-01 -3.09698197e-01 1.48672434e+02] [-6.51060355e-01 -6.94723699e-01 -3.05744003e-01 -6.43881175e+01] [-4.35041276e-01 1.14654692e-02 9.00337510e-01 -1.24053016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-64.39, Z:-1.24 [[-6.21566276e-01 7.19525701e-01 -3.09738809e-01 1.48670692e+02] [-6.51618891e-01 -6.94361779e-01 -3.05376064e-01 -6.43913219e+01] [-4.34796717e-01 1.20201965e-02 9.00448405e-01 -1.24275335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.66, Y:-64.40, Z:-1.25 [[-6.21424844e-01 7.19515115e-01 -3.10047033e-01 1.48664298e+02] [-6.51663222e-01 -6.94367064e-01 -3.05269431e-01 -6.43986618e+01] [-4.34932418e-01 1.23442405e-02 9.00378483e-01 -1.24790979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-64.40, Z:-1.25 [[-6.21338146e-01 7.19367710e-01 -3.10562404e-01 1.48665401e+02] [-6.51442718e-01 -6.94515976e-01 -3.05401283e-01 -6.43985567e+01] [-4.35386373e-01 1.25561495e-02 9.00156125e-01 -1.24762300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:-64.39, Z:-1.24 [[-6.28884098e-01 7.22153397e-01 -2.88095925e-01 1.48649139e+02] [-6.51144159e-01 -6.91676035e-01 -3.12402859e-01 -6.43943631e+01] [-4.24871833e-01 -8.87321111e-03 9.05210026e-01 -1.23793927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:-65.31, Z:-0.90 [[-6.27352746e-01 -5.37131550e-01 -5.63842380e-01 1.49111920e+02] [-6.11908139e-01 -1.07820465e-01 7.83545261e-01 -6.53055457e+01] [-4.81660629e-01 8.36579013e-01 -2.61033702e-01 -8.97601047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:-65.12, Z:-0.30 [[ -0.58575573 -0.3465389 0.73266706 148.20062137] [ -0.65240389 0.73796967 -0.17253965 -65.12048114] [ -0.48089437 -0.57906092 -0.65835329 -0.30048219] [ 0. 0. 0. 1. ]] SLAMing on 167.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.41, Y:-64.58, Z:-1.39 [[-5.60775505e-01 7.73319634e-01 -2.95816796e-01 1.48412677e+02] [-6.93232381e-01 -6.33888109e-01 -3.42950041e-01 -6.45777015e+01] [-4.52724749e-01 1.27517996e-02 8.91559136e-01 -1.38575101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:-64.58, Z:-1.39 [[-5.61581144e-01 7.72557218e-01 -2.96280211e-01 1.48407134e+02] [-6.92510641e-01 -6.34817535e-01 -3.42688939e-01 -6.45844957e+01] [-4.52830687e-01 1.27295521e-02 8.91505652e-01 -1.39062309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:-64.59, Z:-1.39 [[-5.62255392e-01 7.71947244e-01 -2.96591177e-01 1.48404355e+02] [-6.91881671e-01 -6.35561936e-01 -3.42579594e-01 -6.45881035e+01] [-4.52955437e-01 1.25887752e-02 8.91444275e-01 -1.39352626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.40, Y:-64.59, Z:-1.39 [[-5.64936218e-01 7.70677359e-01 -2.94793958e-01 1.48399803e+02] [-6.91700265e-01 -6.37116239e-01 -3.40049470e-01 -6.45916406e+01] [-4.49886445e-01 1.18027969e-02 8.93007772e-01 -1.39485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:-64.60, Z:-1.40 [[-5.63974104e-01 7.70523892e-01 -2.97028857e-01 1.48396717e+02] [-6.90642765e-01 -6.37291702e-01 -3.41865264e-01 -6.45985786e+01] [-4.52709379e-01 1.23376749e-02 8.91572768e-01 -1.40176451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:-64.66, Z:-1.45 [[-5.64760274e-01 7.70002230e-01 -2.96887855e-01 1.48337917e+02] [-6.90370279e-01 -6.37923668e-01 -3.41236387e-01 -6.46648600e+01] [-4.52144569e-01 1.22457964e-02 8.91860600e-01 -1.44974554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-64.61, Z:-1.41 [[-5.64976906e-01 7.69504144e-01 -2.97765794e-01 1.48389357e+02] [-6.89512145e-01 -6.38525687e-01 -3.41844920e-01 -6.46076343e+01] [-4.53182190e-01 1.21786457e-02 8.91334720e-01 -1.40899246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-64.61, Z:-1.41 [[-5.65101450e-01 7.69111074e-01 -2.98543979e-01 1.48385866e+02] [-6.89024661e-01 -6.38993555e-01 -3.41953585e-01 -6.46105224e+01] [-4.53767967e-01 1.24656970e-02 8.91032681e-01 -1.41141090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-64.62, Z:-1.42 [[-5.65515834e-01 7.68656276e-01 -2.98930378e-01 1.48377965e+02] [-6.88529112e-01 -6.39540752e-01 -3.41928777e-01 -6.46191240e+01] [-4.54003859e-01 1.24561301e-02 8.90912645e-01 -1.41757421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-64.62, Z:-1.42 [[-5.65244620e-01 7.68425966e-01 -3.00033421e-01 1.48377589e+02] [-6.87882132e-01 -6.39813319e-01 -3.42720132e-01 -6.46192279e+01] [-4.55320427e-01 1.26669187e-02 8.90237529e-01 -1.41819473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-64.63, Z:-1.42 [[-5.65604002e-01 7.67998065e-01 -3.00451469e-01 1.48371673e+02] [-6.87399111e-01 -6.40326622e-01 -3.42730622e-01 -6.46264731e+01] [-4.55603529e-01 1.26802613e-02 8.90092487e-01 -1.42306773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-64.63, Z:-1.43 [[-5.65944835e-01 7.67529562e-01 -3.01006337e-01 1.48369126e+02] [-6.86960896e-01 -6.40883635e-01 -3.42568088e-01 -6.46299495e+01] [-4.55841170e-01 1.29049434e-02 8.89967578e-01 -1.42560131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:-64.64, Z:-1.43 [[-5.66541638e-01 7.66970546e-01 -3.01308404e-01 1.48364380e+02] [-6.86395525e-01 -6.41554489e-01 -3.42445647e-01 -6.46360161e+01] [-4.55951484e-01 1.28070222e-02 8.89912481e-01 -1.42974864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.36, Y:-64.64, Z:-1.43 [[-5.67134054e-01 7.66301467e-01 -3.01895723e-01 1.48361924e+02] [-6.85653438e-01 -6.42353858e-01 -3.42433766e-01 -6.46398909e+01] [-4.56331379e-01 1.27899904e-02 8.89717983e-01 -1.43255574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:-64.65, Z:-1.44 [[-5.67377348e-01 7.65849060e-01 -3.02585795e-01 1.48357693e+02] [-6.84990791e-01 -6.42892956e-01 -3.42748105e-01 -6.46452243e+01] [-4.57023590e-01 1.28009717e-02 8.89362453e-01 -1.43634487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:-64.65, Z:-1.44 [[-5.67847136e-01 7.65336421e-01 -3.03001310e-01 1.48354536e+02] [-6.84415227e-01 -6.43504185e-01 -3.42750872e-01 -6.46490912e+01] [-4.57302337e-01 1.27486094e-02 8.89219908e-01 -1.43902722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:-64.65, Z:-1.44 [[-5.68173904e-01 7.64814923e-01 -3.03704707e-01 1.48350938e+02] [-6.83666030e-01 -6.44124800e-01 -3.43080168e-01 -6.46532964e+01] [-4.58016566e-01 1.27033932e-02 8.88852884e-01 -1.44194677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.35, Y:-64.66, Z:-1.45 [[-5.68389615e-01 7.64426347e-01 -3.04278829e-01 1.48347017e+02] [-6.83142007e-01 -6.44584779e-01 -3.43260049e-01 -6.46574074e+01] [-4.58530527e-01 1.27602026e-02 8.88587043e-01 -1.44526085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.34, Y:-64.66, Z:-1.45 [[-5.68586393e-01 7.64048987e-01 -3.04858425e-01 1.48343166e+02] [-6.82626534e-01 -6.45030752e-01 -3.43447732e-01 -6.46615816e+01] [-4.59053951e-01 1.28247431e-02 8.88315820e-01 -1.44870025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:-64.67, Z:-1.45 [[-5.69569568e-01 7.63101590e-01 -3.05395596e-01 1.48338764e+02] [-6.81490096e-01 -6.46159018e-01 -3.43583720e-01 -6.46663269e+01] [-4.59523401e-01 1.24292433e-02 8.88078689e-01 -1.45210015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:148.33, Y:-64.67, Z:-1.46 [[-5.70440901e-01 7.62184497e-01 -3.06058771e-01 1.48333711e+02] [-6.80425519e-01 -6.47244555e-01 -3.43650401e-01 -6.46728087e+01] [-4.60019881e-01 1.22179535e-02 8.87824550e-01 -1.45668624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.33, Y:-64.68, Z:-1.46 [[-5.72342538e-01 7.60556806e-01 -3.06557278e-01 1.48330780e+02] [-6.78538367e-01 -6.49173541e-01 -3.43743215e-01 -6.46778472e+01] [-4.60445115e-01 1.12720107e-02 8.87616605e-01 -1.45973071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:-64.68, Z:-1.46 [[-5.73974840e-01 7.59208429e-01 -3.06847593e-01 1.48327398e+02] [-6.77087007e-01 -6.50762156e-01 -3.43601224e-01 -6.46826980e+01] [-4.60549747e-01 1.05440605e-02 8.87571267e-01 -1.46294930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.32, Y:-64.69, Z:-1.47 [[-5.75580525e-01 7.57861691e-01 -3.07168873e-01 1.48323138e+02] [-6.75730378e-01 -6.52338957e-01 -3.43281723e-01 -6.46888840e+01] [-4.60538289e-01 9.97706470e-03 8.87583766e-01 -1.46703088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:-64.69, Z:-1.47 [[-5.77156498e-01 7.56649003e-01 -3.07201339e-01 1.48319133e+02] [-6.74688976e-01 -6.53752160e-01 -3.42641065e-01 -6.46945237e+01] [-4.60092559e-01 9.50783968e-03 8.87820048e-01 -1.47083425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:-64.70, Z:-1.47 [[-5.78999088e-01 7.55084078e-01 -3.07584284e-01 1.48316715e+02] [-6.72941139e-01 -6.55571307e-01 -3.42602518e-01 -6.46999778e+01] [-4.60337137e-01 8.61957343e-03 8.87702328e-01 -1.47455364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:-64.71, Z:-1.48 [[-5.80338217e-01 7.53988426e-01 -3.07748285e-01 1.48312051e+02] [-6.71849041e-01 -6.56837772e-01 -3.42320036e-01 -6.47057940e+01] [-4.60246043e-01 8.09899057e-03 8.87754463e-01 -1.47875478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:-64.71, Z:-1.48 [[-5.81210788e-01 7.53212006e-01 -3.08002750e-01 1.48308064e+02] [-6.71067438e-01 -6.57731148e-01 -3.42137736e-01 -6.47111372e+01] [-4.60285253e-01 7.83647377e-03 8.87736490e-01 -1.48251921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:-64.72, Z:-1.49 [[-5.82068127e-01 7.52476282e-01 -3.08181994e-01 1.48304437e+02] [-6.70375974e-01 -6.58575420e-01 -3.41869084e-01 -6.47160818e+01] [-4.60209463e-01 7.60670742e-03 8.87777781e-01 -1.48579876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:-64.72, Z:-1.49 [[-5.83198159e-01 7.51403567e-01 -3.08662577e-01 1.48300299e+02] [-6.69132059e-01 -6.59804510e-01 -3.41936098e-01 -6.47225984e+01] [-4.60588964e-01 7.11952299e-03 8.87584992e-01 -1.48974071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:-64.77, Z:-1.52 [[-5.83912186e-01 7.49001630e-01 -3.13118376e-01 1.48263575e+02] [-6.68222894e-01 -6.62467470e-01 -3.38548394e-01 -6.47694809e+01] [-4.61004037e-01 1.15503347e-02 8.87322865e-01 -1.52224094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:-64.86, Z:-0.91 [[-6.21824999e-01 4.40868312e-01 6.47277995e-01 1.47772898e+02] [-6.65162592e-01 1.38961045e-01 -7.33654247e-01 -6.48550201e+01] [-4.13391336e-01 -8.86749660e-01 2.06839658e-01 -9.08990173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-65.71, Z:-1.26 [[ -0.6021433 -0.46822705 -0.6466737 148.70517708] [ -0.66299471 -0.15802111 0.73175634 -65.706121 ] [ -0.44481621 0.86936342 -0.21528071 -1.26281791] [ 0. 0. 0. 1. ]] SLAMing on 168.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:-65.06, Z:-1.04 [[-6.20959035e-01 4.41215517e-01 6.47872475e-01 1.47588561e+02] [-6.65489869e-01 1.39967975e-01 -7.33165875e-01 -6.50551878e+01] [-4.14165559e-01 -8.86418543e-01 2.06710078e-01 -1.04113533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-65.13, Z:-1.12 [[-6.49087176e-01 4.04897169e-01 6.44006305e-01 1.47528697e+02] [-6.72266218e-01 9.08831215e-02 -7.34709732e-01 -6.51281415e+01] [-3.56011194e-01 -9.09834348e-01 2.13207620e-01 -1.12314277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:-66.01, Z:-1.47 [[-6.33318282e-01 -4.26551030e-01 -6.45726082e-01 1.48430869e+02] [-6.74521259e-01 -1.04788258e-01 7.30780741e-01 -6.60108217e+01] [-3.79379789e-01 8.98372773e-01 -2.21353418e-01 -1.46765865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-65.32, Z:-1.23 [[-6.47216189e-01 4.07641993e-01 6.44157753e-01 1.47344353e+02] [-6.72174588e-01 9.34073256e-02 -7.34476953e-01 -6.53215997e+01] [-3.59572702e-01 -9.08351846e-01 2.13551856e-01 -1.23101828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-65.41, Z:-1.31 [[-6.71670486e-01 3.69764818e-01 6.41975652e-01 1.47268744e+02] [-6.76735335e-01 4.63989476e-02 -7.34762835e-01 -6.54081827e+01] [-3.01476440e-01 -9.27966119e-01 2.19068114e-01 -1.30990400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:-66.31, Z:-1.64 [[-6.64505299e-01 -3.79416180e-01 -6.43798160e-01 1.48151418e+02] [-6.80161326e-01 -4.97722356e-02 7.31370833e-01 -6.63103091e+01] [-3.09537201e-01 9.23886404e-01 -2.24990297e-01 -1.64150492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:-65.55, Z:-2.03 [[-6.30765679e-01 7.39130049e-01 -2.36265588e-01 1.47562335e+02] [-6.97655666e-01 -6.73477629e-01 -2.44344949e-01 -6.55537945e+01] [-3.39722282e-01 1.07076187e-02 9.40464841e-01 -2.02855805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.56, Y:-65.55, Z:-2.03 [[-6.29653287e-01 7.39976268e-01 -2.36583730e-01 1.47563322e+02] [-6.98538789e-01 -6.72536915e-01 -2.44412884e-01 -6.55542991e+01] [-3.39971025e-01 1.13675364e-02 9.40367205e-01 -2.02855855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27361786499998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:147.56, Y:-65.56, Z:-2.03 [[-6.28128497e-01 7.41090327e-01 -2.37149148e-01 1.47561202e+02] [-6.99619746e-01 -6.71294692e-01 -2.44735873e-01 -6.55596579e+01] [-3.40568352e-01 1.21886502e-02 9.40140752e-01 -2.03108517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:147.55, Y:-65.54, Z:-2.01 [[-6.33179319e-01 7.47947757e-01 -1.99143421e-01 1.47553394e+02] [-7.03323530e-01 -6.63404303e-01 -2.55403099e-01 -6.55399949e+01] [-3.23140777e-01 -2.16537063e-02 9.46103142e-01 -2.00625557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33361786499998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:148.05, Y:-66.34, Z:-1.78 [[-6.45504250e-01 -2.63369841e-01 -7.16910447e-01 1.48049403e+02] [-6.69718454e-01 -2.56048937e-01 6.97076850e-01 -6.63380451e+01] [-3.67153177e-01 9.30094226e-01 -1.11029657e-02 -1.78364697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:147.95, Y:-66.44, Z:-1.80 [[-6.26566187e-01 -3.06490387e-01 -7.16574111e-01 1.47954385e+02] [-6.50532972e-01 -3.00676005e-01 6.97424399e-01 -6.64370435e+01] [-4.29210515e-01 9.03137632e-01 -1.09886849e-02 -1.80484136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39361786499998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:146.85, Y:-65.90, Z:-1.37 [[-6.27812011e-01 3.10766822e-01 7.13635804e-01 1.46854403e+02] [-6.45117301e-01 3.05250543e-01 -7.00461115e-01 -6.58963106e+01] [-4.35517791e-01 -9.00136706e-01 8.84109623e-03 -1.36991050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:147.05, Y:-66.41, Z:-1.11 [[-6.18395880e-01 -4.77219063e-01 6.24378492e-01 1.47051354e+02] [-6.80992883e-01 7.21940470e-01 -1.22681096e-01 -6.64137627e+01] [-3.92218344e-01 -5.01062793e-01 -7.71427798e-01 -1.10797593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45361786499996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:147.15, Y:-65.94, Z:-2.25 [[-5.77171204e-01 7.85402225e-01 -2.23644242e-01 1.47145099e+02] [-7.28619084e-01 -6.18953484e-01 -2.93276005e-01 -6.59366195e+01] [-3.68765009e-01 -6.31900185e-03 9.29501177e-01 -2.25192532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:147.16, Y:-65.95, Z:-2.26 [[-5.77521064e-01 7.80225286e-01 -2.40245547e-01 1.47157467e+02] [-7.28626552e-01 -6.25348287e-01 -2.79361536e-01 -6.59472960e+01] [-3.68202075e-01 1.37121130e-02 9.29644668e-01 -2.25937111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51361786499996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:147.15, Y:-65.95, Z:-2.26 [[-5.78102629e-01 7.79764904e-01 -2.40341519e-01 1.47154012e+02] [-7.28205460e-01 -6.25924071e-01 -2.79169958e-01 -6.59541944e+01] [-3.68122477e-01 1.36291201e-02 9.29677411e-01 -2.26208002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54361786499996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:147.15, Y:-65.96, Z:-2.26 [[-5.78514109e-01 7.79299813e-01 -2.40859351e-01 1.47154875e+02] [-7.27603391e-01 -6.26503868e-01 -2.79439096e-01 -6.59602346e+01] [-3.68666150e-01 1.35906207e-02 9.29462514e-01 -2.26374158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57361786499996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:147.16, Y:-65.96, Z:-2.26 [[-5.78934873e-01 7.78924388e-01 -2.41062672e-01 1.47155843e+02] [-7.27226846e-01 -6.26971029e-01 -2.79371513e-01 -6.59626617e+01] [-3.68748596e-01 1.35693353e-02 9.29430119e-01 -2.26428346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60361786499996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:147.12, Y:-65.98, Z:-2.26 [[-5.84840733e-01 7.83567998e-01 -2.09720075e-01 1.47118381e+02] [-7.29867678e-01 -6.21151498e-01 -2.85418971e-01 -6.59826890e+01] [-3.53913110e-01 -1.38567364e-02 9.35175653e-01 -2.26188427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63361786499996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:147.65, Y:-66.74, Z:-1.96 [[-5.96383083e-01 -3.20213701e-01 -7.36064130e-01 1.47650227e+02] [-6.99049435e-01 -2.43517350e-01 6.72331159e-01 -6.67432474e+01] [-3.94534035e-01 9.15512144e-01 -7.86155788e-02 -1.95996644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66361786499996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:147.04, Y:-66.06, Z:-2.26 [[-5.68759430e-01 7.89820953e-01 -2.29555163e-01 1.47037078e+02] [-7.14792120e-01 -6.12713472e-01 -3.37126723e-01 -6.60629877e+01] [-4.06921291e-01 -2.76597810e-02 9.13044358e-01 -2.26020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69361786499996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:147.56, Y:-66.87, Z:-1.95 [[-5.72469839e-01 -4.13549283e-01 -7.07993837e-01 1.47558688e+02] [-6.81753826e-01 -2.39628907e-01 6.91223341e-01 -6.68669693e+01] [-4.55510707e-01 8.78382022e-01 -1.44758485e-01 -1.94532719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:147.47, Y:-66.96, Z:-1.99 [[-5.43247478e-01 -4.47562575e-01 -7.10330852e-01 1.47470309e+02] [-6.63833439e-01 -2.89006124e-01 6.89783028e-01 -6.69634699e+01] [-5.14011035e-01 8.46264262e-01 -1.40105155e-01 -1.98671840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75361786499997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:146.91, Y:-66.24, Z:-2.33 [[-4.96506134e-01 7.95860964e-01 -3.46535690e-01 1.46913766e+02] [-6.72367842e-01 -6.05104076e-01 -4.26345567e-01 -6.62371670e+01] [-5.49001953e-01 2.13162643e-02 8.35549204e-01 -2.33212067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:146.91, Y:-66.24, Z:-2.34 [[-4.96835971e-01 7.95389554e-01 -3.47144747e-01 1.46911516e+02] [-6.71976600e-01 -6.05714486e-01 -4.26095541e-01 -6.62428995e+01] [-5.49182544e-01 2.15735550e-02 8.35423913e-01 -2.33598199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81361786499997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:146.91, Y:-66.25, Z:-2.34 [[-4.97000104e-01 7.95094698e-01 -3.47584978e-01 1.46911394e+02] [-6.71866183e-01 -6.06088367e-01 -4.25737858e-01 -6.62462886e+01] [-5.49169125e-01 2.19388329e-02 8.35423222e-01 -2.33781660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84361786499997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:146.88, Y:-66.25, Z:-2.33 [[-5.06725278e-01 8.04173257e-01 -3.10700605e-01 1.46882154e+02] [-6.77338437e-01 -5.94322872e-01 -4.33581557e-01 -6.62510692e+01] [-5.33331168e-01 -9.25727315e-03 8.45855879e-01 -2.32742340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87361786499997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:147.36, Y:-67.08, Z:-2.07 [[-5.15991578e-01 -4.56099956e-01 -7.25069322e-01 1.47360596e+02] [-6.39549998e-01 -3.57976650e-01 6.80315014e-01 -6.70779816e+01] [-5.69849535e-01 8.14754901e-01 -1.06985789e-01 -2.06758557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.21, Y:-66.57, Z:-1.88 [[-5.14358438e-01 4.58500920e-01 7.24715326e-01 1.46211663e+02] [-6.30714309e-01 3.70341030e-01 -6.81943533e-01 -6.65678480e+01] [-5.81063557e-01 -8.07851736e-01 9.86950578e-02 -1.88497482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93361786499997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:146.16, Y:-66.77, Z:-1.82 [[ -0.5376295 0.15891879 0.82806965 146.15871022] [ -0.66109429 0.53012887 -0.53095924 -66.77313485] [ -0.52336303 -0.83289147 -0.17995261 -1.82423232] [ 0. 0. 0. 1. ]] SLAMing on 168.96361786499997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.10, Y:-66.87, Z:-1.91 [[-5.28804735e-01 9.99770251e-02 8.42834590e-01 1.46104885e+02] [-7.10193734e-01 4.91637437e-01 -5.03902263e-01 -6.68669850e+01] [-4.64747687e-01 -8.65041747e-01 -1.88977148e-01 -1.90847160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:146.53, Y:-66.70, Z:-2.78 [[-5.21326155e-01 8.15104911e-01 -2.52632190e-01 1.46532240e+02] [-7.34700291e-01 -5.79311226e-01 -3.53007063e-01 -6.66961274e+01] [-4.34090454e-01 1.57712852e-03 9.00867910e-01 -2.77867284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:-66.71, Z:-2.79 [[-5.23253041e-01 8.09920759e-01 -2.65018150e-01 1.46536810e+02] [-7.33769006e-01 -5.86350302e-01 -3.43185619e-01 -6.67081930e+01] [-4.33346629e-01 1.48891852e-02 9.01104329e-01 -2.78634552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.52, Y:-66.71, Z:-2.78 [[-5.32044730e-01 8.11976868e-01 -2.40045770e-01 1.46521644e+02] [-7.35454156e-01 -5.83652591e-01 -3.44175591e-01 -6.67111001e+01] [-4.19565954e-01 -6.57415040e-03 9.07701047e-01 -2.77792796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.02, Y:-67.49, Z:-2.43 [[ -0.53775109 -0.41094226 -0.73617269 147.01681764] [ -0.70383359 -0.26189831 0.66032383 -67.49304943] [ -0.46415735 0.87323292 -0.14839886 -2.42985787] [ 0. 0. 0. 1. ]] SLAMing on 169.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-66.79, Z:-2.79 [[-5.08471569e-01 8.20194504e-01 -2.62178641e-01 1.46443338e+02] [-7.17654012e-01 -5.71916212e-01 -3.97346909e-01 -6.67940097e+01] [-4.75845966e-01 -1.38860524e-02 8.79419010e-01 -2.79173598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:-67.56, Z:-2.51 [[-5.17747483e-01 -3.80507814e-01 -7.66258016e-01 1.46938958e+02] [-6.74215901e-01 -3.69884028e-01 6.39232919e-01 -6.75583971e+01] [-5.26659722e-01 8.47584574e-01 -6.50378945e-02 -2.51179455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-67.73, Z:-1.93 [[ -0.46648426 -0.76088491 0.45105055 146.2193549 ] [ -0.69661594 0.63027034 0.34276163 -67.72708121] [ -0.54508593 -0.1543161 -0.82405574 -1.92504472] [ 0. 0. 0. 1. ]] SLAMing on 169.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-67.02, Z:-2.95 [[-4.27568505e-01 8.58427944e-01 -2.83348970e-01 1.46230076e+02] [-7.29373852e-01 -5.12768428e-01 -4.52860160e-01 -6.70240410e+01] [-5.34040222e-01 1.30385885e-02 8.45358526e-01 -2.95466834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:-67.00, Z:-2.94 [[-4.27461931e-01 8.57594999e-01 -2.86019431e-01 1.46247890e+02] [-7.26178325e-01 -5.14170961e-01 -4.56391567e-01 -6.69989950e+01] [-5.38462011e-01 1.26110910e-02 8.42555412e-01 -2.93998413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-67.03, Z:-2.96 [[-4.29110994e-01 8.56344039e-01 -2.87295389e-01 1.46229981e+02] [-7.25215088e-01 -5.16245677e-01 -4.55580374e-01 -6.70305735e+01] [-5.38448540e-01 1.28564039e-02 8.42560314e-01 -2.96387255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-67.01, Z:-2.95 [[-4.30985722e-01 8.56069823e-01 -2.85299430e-01 1.46240172e+02] [-7.23976714e-01 -5.16770842e-01 -4.56952530e-01 -6.70137271e+01] [-5.38617698e-01 9.61012744e-03 8.42495472e-01 -2.95056913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.24, Y:-67.02, Z:-2.95 [[-4.31969389e-01 8.54868673e-01 -2.87405635e-01 1.46238902e+02] [-7.23502431e-01 -5.18723937e-01 -4.55488430e-01 -6.70180920e+01] [-5.38466972e-01 1.11816170e-02 8.42572425e-01 -2.95425754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:-67.01, Z:-2.94 [[-4.33434310e-01 8.54869869e-01 -2.85188020e-01 1.46246000e+02] [-7.26145826e-01 -5.18715202e-01 -4.51272399e-01 -6.70067682e+01] [-5.33710538e-01 1.14911496e-02 8.45589153e-01 -2.94056544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-67.02, Z:-2.95 [[-4.31315192e-01 8.55356159e-01 -2.86937354e-01 1.46239719e+02] [-7.25662930e-01 -5.17881422e-01 -4.53003471e-01 -6.70182670e+01] [-5.36078834e-01 1.28325220e-02 8.44070382e-01 -2.95326089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-67.02, Z:-2.95 [[-4.30683190e-01 8.55559663e-01 -2.87279747e-01 1.46238879e+02] [-7.26016547e-01 -5.17527169e-01 -4.52841697e-01 -6.70185352e+01] [-5.36108164e-01 1.35385432e-02 8.44040724e-01 -2.95323801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-67.03, Z:-2.97 [[-4.29603726e-01 8.55473837e-01 -2.89145557e-01 1.46226814e+02] [-7.24527821e-01 -5.17656936e-01 -4.55072228e-01 -6.70346403e+01] [-5.38980588e-01 1.39932758e-02 8.42201944e-01 -2.96716384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-67.03, Z:-2.96 [[-4.28643415e-01 8.56208036e-01 -2.88396641e-01 1.46233301e+02] [-7.26600396e-01 -5.16404785e-01 -4.53186455e-01 -6.70268386e+01] [-5.36951290e-01 1.52937240e-02 8.43474608e-01 -2.96198547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-67.05, Z:-2.98 [[-4.26285860e-01 8.55306376e-01 -2.94501901e-01 1.46216417e+02] [-7.26349851e-01 -5.17689550e-01 -4.52121028e-01 -6.70542203e+01] [-5.39162555e-01 2.11786106e-02 8.41935393e-01 -2.98300604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-67.24, Z:-2.48 [[ -0.46867579 0.43849765 0.76685254 145.65861644] [ -0.72105314 0.31159808 -0.61886106 -67.24332404] [ -0.5103189 -0.84298662 0.17014163 -2.48006775] [ 0. 0. 0. 1. ]] SLAMing on 169.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-67.33, Z:-2.58 [[ -0.49734638 0.41239484 0.76326736 145.60572214] [ -0.73993979 0.25766996 -0.62136568 -67.33232774] [ -0.45291907 -0.87380586 0.17699613 -2.57709536] [ 0. 0. 0. 1. ]] SLAMing on 169.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:-68.04, Z:-2.83 [[ -0.49731015 -0.41711541 -0.7607216 146.60653719] [ -0.74062487 -0.25255099 0.62264982 -68.04144827] [ -0.45183783 0.87305941 -0.18332987 -2.83052564] [ 0. 0. 0. 1. ]] SLAMing on 169.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-67.39, Z:-3.24 [[-4.53287875e-01 8.50836509e-01 -2.65720412e-01 1.46000570e+02] [-7.49734850e-01 -5.25164468e-01 -4.02616362e-01 -6.73902238e+01] [-4.82107619e-01 1.67187376e-02 8.75952469e-01 -3.24016267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.00, Y:-67.39, Z:-3.24 [[-4.54135012e-01 8.50308279e-01 -2.65964699e-01 1.45999353e+02] [-7.49225456e-01 -5.26026043e-01 -4.02439831e-01 -6.73923351e+01] [-4.82102279e-01 1.65055053e-02 8.75959452e-01 -3.24196699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-67.40, Z:-3.25 [[-4.55898204e-01 8.49416190e-01 -2.65798729e-01 1.45995664e+02] [-7.48653106e-01 -5.27483833e-01 -4.01595982e-01 -6.73973799e+01] [-4.81326661e-01 1.59041572e-02 8.76397001e-01 -3.24654102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:-67.40, Z:-3.25 [[-4.57316985e-01 8.48660222e-01 -2.65776228e-01 1.45992510e+02] [-7.48121434e-01 -5.28712351e-01 -4.00970783e-01 -6.74009609e+01] [-4.80807128e-01 1.54621433e-02 8.76690041e-01 -3.24959856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:-67.41, Z:-3.25 [[-4.58481195e-01 8.47995037e-01 -2.65893608e-01 1.45988279e+02] [-7.47581776e-01 -5.29788184e-01 -4.00557073e-01 -6.74060113e+01] [-4.80537702e-01 1.51293300e-02 8.76843555e-01 -3.25351607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.98, Y:-67.41, Z:-3.26 [[-4.59483329e-01 8.47337701e-01 -2.66259068e-01 1.45983618e+02] [-7.46851635e-01 -5.30847465e-01 -4.00516671e-01 -6.74112530e+01] [-4.80715827e-01 1.48252872e-02 8.76751108e-01 -3.25755765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:-67.42, Z:-3.26 [[-4.60990810e-01 8.46401586e-01 -2.66630508e-01 1.45977284e+02] [-7.45795125e-01 -5.32354960e-01 -4.00484492e-01 -6.74175969e+01] [-4.80912783e-01 1.42320628e-02 8.76652921e-01 -3.26288225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:-67.42, Z:-3.26 [[-4.61735038e-01 8.45896144e-01 -2.66946566e-01 1.45975391e+02] [-7.45281328e-01 -5.33161596e-01 -4.00367900e-01 -6.74198256e+01] [-4.80995319e-01 1.40864035e-02 8.76609991e-01 -3.26444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-67.43, Z:-3.27 [[-4.62375197e-01 8.45389500e-01 -2.67443024e-01 1.45969906e+02] [-7.44621583e-01 -5.33968076e-01 -4.00520650e-01 -6.74273533e+01] [-4.81401989e-01 1.39530333e-02 8.76388862e-01 -3.27006292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-67.43, Z:-3.27 [[-4.63160284e-01 8.44861657e-01 -2.67752372e-01 1.45967842e+02] [-7.44087941e-01 -5.34807206e-01 -4.00392792e-01 -6.74292208e+01] [-4.81472415e-01 1.37852715e-02 8.76352828e-01 -3.27190674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:-67.43, Z:-3.28 [[-4.63808849e-01 8.44319286e-01 -2.68339885e-01 1.45961650e+02] [-7.43314700e-01 -5.35667222e-01 -4.00679278e-01 -6.74341312e+01] [-4.82042123e-01 1.36223860e-02 8.76042135e-01 -3.27586875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:-67.44, Z:-3.28 [[-4.64346882e-01 8.43879192e-01 -2.68793384e-01 1.45959300e+02] [-7.42767269e-01 -5.36361930e-01 -4.00765097e-01 -6.74353482e+01] [-4.82367864e-01 1.35569042e-02 8.75863833e-01 -3.27706919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:-67.44, Z:-3.28 [[-4.64817340e-01 8.43477128e-01 -2.69241853e-01 1.45954392e+02] [-7.42267837e-01 -5.36994650e-01 -4.00843116e-01 -6.74388272e+01] [-4.82683435e-01 1.35307372e-02 8.75690368e-01 -3.28018074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:-67.44, Z:-3.28 [[-4.65320019e-01 8.43078047e-01 -2.69623230e-01 1.45950248e+02] [-7.41825451e-01 -5.37621682e-01 -4.00821565e-01 -6.74437901e+01] [-4.82879157e-01 1.35030758e-02 8.75582884e-01 -3.28367525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:-67.44, Z:-3.26 [[-4.70483069e-01 8.50626151e-01 -2.34693061e-01 1.45933424e+02] [-7.49296695e-01 -5.25592740e-01 -4.02873099e-01 -6.74368664e+01] [-4.66047363e-01 -1.36902368e-02 8.84653849e-01 -3.26454558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:-68.13, Z:-3.08 [[-4.80949569e-01 -2.34662372e-01 -8.44760962e-01 1.46481549e+02] [-7.07421070e-01 -4.65312611e-01 5.32014664e-01 -6.81333938e+01] [-5.17921753e-01 8.53473927e-01 5.77867931e-02 -3.08144818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:-68.24, Z:-3.13 [[-4.63761911e-01 -2.69253483e-01 -8.44054176e-01 1.46409249e+02] [-6.74057309e-01 -5.11033323e-01 5.33377621e-01 -6.82443120e+01] [-5.74953593e-01 8.16301111e-01 5.55055119e-02 -3.12809593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:-68.34, Z:-3.16 [[-4.57948457e-01 -3.11397923e-01 -8.32655117e-01 1.46339383e+02] [-6.29861340e-01 -5.47321004e-01 5.51102904e-01 -6.83392673e+01] [-6.27341935e-01 7.76833992e-01 5.45072959e-02 -3.16364076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-68.76, Z:-2.64 [[-3.95452401e-01 -8.89147769e-01 2.30290345e-01 1.45772495e+02] [-6.44378720e-01 4.47243903e-01 6.20281353e-01 -6.87566042e+01] [-6.54517734e-01 9.68975522e-02 -7.49811577e-01 -2.64183188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-67.82, Z:-3.49 [[-3.49743632e-01 8.88170713e-01 -2.98047272e-01 1.45608880e+02] [-6.76056802e-01 -4.59513637e-01 -5.76015987e-01 -6.78209448e+01] [-6.48557316e-01 3.89621910e-05 7.61165820e-01 -3.48626505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-67.82, Z:-3.47 [[-3.66847321e-01 8.95487344e-01 -2.52042577e-01 1.45580340e+02] [-6.87490035e-01 -4.43489479e-01 -5.75043071e-01 -6.78171848e+01] [-6.26722023e-01 -3.76762503e-02 7.78331553e-01 -3.46809533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:-68.52, Z:-3.36 [[-3.68872446e-01 -2.98895722e-01 -8.80110485e-01 1.46183768e+02] [-6.25271306e-01 -6.20808640e-01 4.72897903e-01 -6.85167212e+01] [-6.87727353e-01 7.24746839e-01 4.21082828e-02 -3.36161371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:-69.00, Z:-2.96 [[-3.11204116e-01 -9.49082741e-01 -4.89279957e-02 1.45790753e+02] [-6.19366880e-01 1.63503472e-01 7.67887545e-01 -6.89977254e+01] [-7.20788919e-01 2.69274145e-01 -6.38713370e-01 -2.96035666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-68.02, Z:-3.67 [[-2.63583929e-01 9.15134470e-01 -3.05044939e-01 1.45435941e+02] [-6.31951230e-01 -4.02735824e-01 -6.62149152e-01 -6.80195469e+01] [-7.28808038e-01 1.82416494e-02 6.84475044e-01 -3.66798779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:-68.03, Z:-3.68 [[-2.64426501e-01 9.14588261e-01 -3.05952509e-01 1.45432133e+02] [-6.31939219e-01 -4.03965292e-01 -6.61411268e-01 -6.80275308e+01] [-7.28513177e-01 1.84487228e-02 6.84783320e-01 -3.67757528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:-68.03, Z:-3.68 [[-2.64489762e-01 9.14283115e-01 -3.06808657e-01 1.45428971e+02] [-6.32408311e-01 -4.04614995e-01 -6.60565239e-01 -6.80322036e+01] [-7.28083027e-01 1.93156017e-02 6.85216763e-01 -3.68450014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:-68.04, Z:-3.69 [[-2.65531752e-01 9.13704157e-01 -3.07632252e-01 1.45425298e+02] [-6.32528582e-01 -4.05915357e-01 -6.59651662e-01 -6.80391916e+01] [-7.27599121e-01 1.94277302e-02 6.85727411e-01 -3.69342753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-68.05, Z:-3.70 [[-2.66768401e-01 9.13029234e-01 -3.08564803e-01 1.45421322e+02] [-6.32255983e-01 -4.07437343e-01 -6.58974342e-01 -6.80468801e+01] [-7.27383663e-01 1.92984113e-02 6.85959604e-01 -3.70303009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-68.05, Z:-3.71 [[-2.68165091e-01 9.12287972e-01 -3.09545052e-01 1.45419049e+02] [-6.31779488e-01 -4.09108116e-01 -6.58395951e-01 -6.80515126e+01] [-7.27284101e-01 1.90054042e-02 6.86073343e-01 -3.70920561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-68.06, Z:-3.72 [[-2.70585752e-01 9.11276597e-01 -3.10416356e-01 1.45415158e+02] [-6.31130491e-01 -4.11402131e-01 -6.57588465e-01 -6.80585145e+01] [-7.26950929e-01 1.79791579e-02 6.86454002e-01 -3.71855349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-68.06, Z:-3.73 [[-2.72539922e-01 9.10351111e-01 -3.11420689e-01 1.45411976e+02] [-6.30319250e-01 -4.13478399e-01 -6.57064119e-01 -6.80646882e+01] [-7.26924779e-01 1.72182514e-02 6.86501200e-01 -3.72660852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-68.08, Z:-3.74 [[-2.74806333e-01 9.09308592e-01 -3.12472980e-01 1.45405786e+02] [-6.29227111e-01 -4.15808244e-01 -6.56640501e-01 -6.80768052e+01] [-7.27017691e-01 1.61675025e-02 6.86428357e-01 -3.74131830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-68.08, Z:-3.75 [[-2.76911924e-01 9.08098994e-01 -3.14127369e-01 1.45402391e+02] [-6.28119388e-01 -4.18462966e-01 -6.56014315e-01 -6.80807539e+01] [-7.27176609e-01 1.56513046e-02 6.86271969e-01 -3.74735552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-68.09, Z:-3.76 [[-2.78200396e-01 9.07378850e-01 -3.15068504e-01 1.45398820e+02] [-6.27777557e-01 -4.20028674e-01 -6.55340562e-01 -6.80871094e+01] [-7.26979972e-01 1.54769323e-02 6.86484221e-01 -3.75533637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-68.09, Z:-3.76 [[-2.79179161e-01 9.06722788e-01 -3.16089832e-01 1.45396429e+02] [-6.27343385e-01 -4.21443057e-01 -6.54848094e-01 -6.80937707e+01] [-7.26979555e-01 1.54769234e-02 6.86484662e-01 -3.76328209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-68.10, Z:-3.77 [[-2.80101103e-01 9.06060974e-01 -3.17170117e-01 1.45392303e+02] [-6.26773992e-01 -4.22864115e-01 -6.54477122e-01 -6.81007305e+01] [-7.27116040e-01 1.54742162e-02 6.86340159e-01 -3.77221067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.39, Y:-68.11, Z:-3.78 [[-2.80610496e-01 9.05493976e-01 -3.18336943e-01 1.45387859e+02] [-6.26436509e-01 -4.24061458e-01 -6.54025367e-01 -6.81077178e+01] [-7.27210458e-01 1.58915006e-02 6.86230581e-01 -3.78117483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:-68.11, Z:-3.79 [[-2.80069647e-01 9.05270647e-01 -3.19446472e-01 1.45382568e+02] [-6.26742552e-01 -4.24487101e-01 -6.53455794e-01 -6.81125433e+01] [-7.27155256e-01 1.71975636e-02 6.86257588e-01 -3.78784501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:-68.12, Z:-3.80 [[-2.79963195e-01 9.04929538e-01 -3.20504510e-01 1.45378245e+02] [-6.26708002e-01 -4.25179067e-01 -6.53038928e-01 -6.81189432e+01] [-7.27226024e-01 1.80358756e-02 6.86161072e-01 -3.79632832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-68.13, Z:-3.79 [[-2.94308214e-01 9.15415056e-01 -2.74586874e-01 1.45339730e+02] [-6.41056829e-01 -4.02178689e-01 -6.53680689e-01 -6.81317885e+01] [-7.08822133e-01 -1.63578052e-02 7.05197565e-01 -3.78524065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-68.81, Z:-3.68 [[-3.05477803e-01 -3.63192067e-01 -8.80212948e-01 1.46004656e+02] [-5.75296579e-01 -6.66211803e-01 4.74547868e-01 -6.88091355e+01] [-7.58760277e-01 6.51347338e-01 -5.43023572e-03 -3.67599555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:-69.33, Z:-3.23 [[ -0.24385169 -0.82840917 0.50425648 145.27410213] [ -0.59130083 0.53912858 0.59975304 -69.3343971 ] [ -0.7687 -0.15191649 -0.62130644 -3.22721378] [ 0. 0. 0. 1. ]] SLAMing on 170.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:-68.32, Z:-4.02 [[-1.94466897e-01 9.45817742e-01 -2.60021971e-01 1.45185982e+02] [-6.17501725e-01 -3.24006332e-01 -7.16736713e-01 -6.83196309e+01] [-7.62151065e-01 2.11824517e-02 6.47052593e-01 -4.02398424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-68.33, Z:-4.03 [[-1.96336307e-01 9.45183224e-01 -2.60922838e-01 1.45181215e+02] [-6.18128657e-01 -3.25875082e-01 -7.15347744e-01 -6.83264039e+01] [-7.61162938e-01 2.08351491e-02 6.48225947e-01 -4.03430291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-68.33, Z:-4.04 [[-1.98050606e-01 9.44510395e-01 -2.62061197e-01 1.45178360e+02] [-6.17939280e-01 -3.27846897e-01 -7.14610005e-01 -6.83327363e+01] [-7.60872528e-01 2.04089625e-02 6.48580350e-01 -4.04345828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:-68.40, Z:-4.13 [[-1.99650401e-01 9.40898745e-01 -2.73585945e-01 1.45160445e+02] [-6.17899771e-01 -3.37587710e-01 -7.10094649e-01 -6.83980929e+01] [-7.60486417e-01 2.72780111e-02 6.48780641e-01 -4.12906925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-68.90, Z:-3.64 [[-2.34383018e-01 3.33962868e-01 9.12980506e-01 1.44651787e+02] [-6.35597810e-01 6.57965535e-01 -4.03852423e-01 -6.88974378e+01] [-7.35581420e-01 -6.74944559e-01 5.80501199e-02 -3.64231557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-69.08, Z:-4.09 [[-2.49180728e-01 -3.30838471e-01 -9.10194963e-01 1.45861081e+02] [-6.14118143e-01 -6.72738361e-01 4.12652401e-01 -6.90789901e+01] [-7.48844357e-01 6.61792266e-01 -3.55404734e-02 -4.08847267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-69.64, Z:-3.62 [[ -0.1835851 -0.82818782 0.52952946 145.12284658] [ -0.62656046 0.51366427 0.5861493 -69.64248956] [ -0.75744208 -0.22417395 -0.61321085 -3.61737763] [ 0. 0. 0. 1. ]] SLAMing on 171.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-68.66, Z:-4.44 [[-1.49688952e-01 9.73805028e-01 -1.71163620e-01 1.44961576e+02] [-6.58825319e-01 -2.27320005e-01 -7.17129566e-01 -6.86636484e+01] [-7.37253292e-01 5.42055302e-03 6.75594702e-01 -4.44353240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:-69.32, Z:-4.25 [[ -0.1586181 -0.44790295 -0.87989957 145.77940749] [ -0.6070478 -0.65859703 0.44468293 -69.32456824] [ -0.77867404 0.60467586 -0.16743309 -4.25217954] [ 0. 0. 0. 1. ]] SLAMing on 171.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-69.85, Z:-3.88 [[-9.23585652e-02 -7.31631519e-01 6.75414847e-01 1.44928753e+02] [-6.17905657e-01 5.74019744e-01 5.37302458e-01 -6.98461172e+01] [-7.80808872e-01 -3.67718171e-01 -5.05094895e-01 -3.88428357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-68.90, Z:-4.69 [[-6.88533870e-02 9.94200987e-01 -8.26051365e-02 1.44809702e+02] [-6.46693466e-01 -1.07528423e-01 -7.55132571e-01 -6.88975272e+01] [-7.59635948e-01 1.42676686e-03 6.50346978e-01 -4.69430479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-68.90, Z:-4.71 [[-7.11478498e-02 9.91820189e-01 -1.05974979e-01 1.44820351e+02] [-6.46925109e-01 -1.26751537e-01 -7.51945444e-01 -6.89018037e+01] [-7.59227164e-01 1.50585735e-02 6.50651483e-01 -4.70928955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-68.92, Z:-4.73 [[-7.42354178e-02 9.89750874e-01 -1.21993073e-01 1.44822946e+02] [-6.46976333e-01 -1.40891805e-01 -7.49380494e-01 -6.89155177e+01] [-7.58887823e-01 2.32960568e-02 6.50804553e-01 -4.73071294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.52, Y:-69.76, Z:-4.21 [[-7.72253636e-02 -1.17463267e-01 9.90070010e-01 1.44523223e+02] [-6.74952651e-01 7.37040076e-01 3.47972074e-02 -6.97584912e+01] [-7.33808669e-01 -6.65563150e-01 -1.36200331e-01 -4.20950337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.45, Y:-69.97, Z:-4.27 [[-3.58470674e-02 -9.82716930e-01 -1.81610634e-01 1.45449230e+02] [-6.77485478e-01 -1.09697281e-01 7.27310068e-01 -6.99715293e+01] [-7.34662110e-01 1.49110500e-01 -6.61844123e-01 -4.26664548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.17, Z:-5.01 [[-7.04435947e-03 9.99818853e-01 -1.76815980e-02 1.44691673e+02] [-6.87792935e-01 -1.76796506e-02 -7.25691607e-01 -6.91731937e+01] [-7.25872754e-01 7.04924567e-03 6.87792885e-01 -5.01125663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.18, Z:-5.02 [[-1.04543186e-02 9.99766177e-01 -1.89287931e-02 1.44689582e+02] [-6.88169688e-01 -2.09273061e-02 -7.25247908e-01 -6.91825165e+01] [-7.25474457e-01 5.44424891e-03 6.88227559e-01 -5.02206293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.19, Z:-5.03 [[-1.27585353e-02 9.99715465e-01 -2.01546238e-02 1.44687547e+02] [-6.89294923e-01 -2.33950742e-02 -7.24103017e-01 -6.91920516e+01] [-7.24368504e-01 4.65398591e-03 6.89397281e-01 -5.03182830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.20, Z:-5.04 [[-1.51872438e-02 9.99655839e-01 -2.13904601e-02 1.44683790e+02] [-6.89999848e-01 -2.59607873e-02 -7.23343796e-01 -6.92012213e+01] [-7.23650162e-01 3.77381564e-03 6.90156650e-01 -5.04174745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.21, Z:-5.05 [[-1.75641855e-02 9.99588780e-01 -2.26665146e-02 1.44684062e+02] [-6.89385567e-01 -2.85269909e-02 -7.23832682e-01 -6.92106000e+01] [-7.24181634e-01 2.91243650e-03 6.89603131e-01 -5.05183946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.22, Z:-5.06 [[-1.95376357e-02 9.99522643e-01 -2.39325518e-02 1.44683354e+02] [-6.89079476e-01 -3.08055919e-02 -7.24030726e-01 -6.92184670e+01] [-7.24422361e-01 2.34558168e-03 6.89352407e-01 -5.06046821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.23, Z:-5.07 [[-2.01999164e-02 9.99470017e-01 -2.55274192e-02 1.44683714e+02] [-6.89427117e-01 -3.24159402e-02 -7.23629364e-01 -6.92265430e+01] [-7.24073348e-01 2.98204239e-03 6.89716532e-01 -5.06962727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.24, Z:-5.08 [[-2.04720216e-02 9.99431454e-01 -2.67892682e-02 1.44684356e+02] [-6.89347934e-01 -3.35175795e-02 -7.23654612e-01 -6.92375685e+01] [-7.24141092e-01 3.65245386e-03 6.89642181e-01 -5.08217008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:144.68, Y:-69.24, Z:-5.09 [[-2.07739545e-02 9.99390346e-01 -2.80602886e-02 1.44684960e+02] [-6.89094460e-01 -3.46475773e-02 -7.23842780e-01 -6.92416906e+01] [-7.24373707e-01 4.29911239e-03 6.89394118e-01 -5.08701548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.25, Z:-5.10 [[-2.15685121e-02 9.99336469e-01 -2.93499641e-02 1.44685690e+02] [-6.88341570e-01 -3.61341226e-02 -7.24486169e-01 -6.92501367e+01] [-7.25065985e-01 4.57671168e-03 6.88664193e-01 -5.09568007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.26, Z:-5.10 [[-1.99746586e-02 9.99329216e-01 -3.06941638e-02 1.44685167e+02] [-6.87678130e-01 -3.60173013e-02 -7.25121744e-01 -6.92589971e+01] [-7.25740864e-01 6.62364590e-03 6.87936280e-01 -5.10465188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.27, Z:-5.12 [[-1.98268819e-02 9.99291515e-01 -3.19900283e-02 1.44686322e+02] [-6.88038650e-01 -3.68521498e-02 -7.24737701e-01 -6.92691734e+01] [-7.25403137e-01 7.64108707e-03 6.88281848e-01 -5.11574730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.28, Z:-5.12 [[-1.91125892e-02 9.99246802e-01 -3.37718364e-02 1.44687271e+02] [-6.88044842e-01 -3.76528130e-02 -7.24690666e-01 -6.92762425e+01] [-7.25416435e-01 9.38582280e-03 6.88246251e-01 -5.12454796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.28, Z:-5.13 [[-1.64537036e-02 9.99251040e-01 -3.50233440e-02 1.44687049e+02] [-6.88271071e-01 -3.67273448e-02 -7.24523315e-01 -6.92831367e+01] [-7.25266991e-01 1.21844626e-02 6.88359885e-01 -5.13243992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.29, Z:-5.14 [[-1.68747252e-02 9.99199996e-01 -3.62575828e-02 1.44687606e+02] [-6.88622128e-01 -3.79057988e-02 -7.24128936e-01 -6.92930758e+01] [-7.24924002e-01 1.27482970e-02 6.88710877e-01 -5.14374158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.30, Z:-5.15 [[-1.75636653e-02 9.99123881e-01 -3.79866928e-02 1.44689611e+02] [-6.89430355e-01 -3.96181827e-02 -7.23267713e-01 -6.93007520e+01] [-7.24139008e-01 1.34859471e-02 6.89522173e-01 -5.15346222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.31, Z:-5.16 [[-1.82070421e-02 9.99049729e-01 -3.95997764e-02 1.44691301e+02] [-6.90110929e-01 -4.12160317e-02 -7.22528992e-01 -6.93088604e+01] [-7.23474539e-01 1.41731227e-02 6.90205559e-01 -5.16390176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.32, Z:-5.17 [[-1.95580539e-02 9.98974778e-01 -4.08273796e-02 1.44693098e+02] [-6.90386557e-01 -4.30306254e-02 -7.22159793e-01 -6.93180043e+01] [-7.23176247e-01 1.40626339e-02 6.90520353e-01 -5.17411543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.33, Z:-5.18 [[-2.14991129e-02 9.98868593e-01 -4.24184058e-02 1.44694244e+02] [-6.90329495e-01 -4.55216776e-02 -7.22061607e-01 -6.93273849e+01] [-7.23175619e-01 1.37589926e-02 6.90527128e-01 -5.18460699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.34, Z:-5.20 [[-2.39021019e-02 9.98758081e-01 -4.37148184e-02 1.44695538e+02] [-6.90286285e-01 -4.81182892e-02 -7.21934536e-01 -6.93382967e+01] [-7.23141434e-01 1.29199867e-02 6.90579134e-01 -5.19653432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.35, Z:-5.21 [[-2.74149747e-02 9.98595261e-01 -4.53422951e-02 1.44697345e+02] [-6.89536358e-01 -5.17316182e-02 -7.22401170e-01 -6.93461191e+01] [-7.23732015e-01 1.14605512e-02 6.89985961e-01 -5.20526676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.36, Z:-5.22 [[-2.97285243e-02 9.98453533e-01 -4.69761421e-02 1.44698344e+02] [-6.88772008e-01 -5.45207192e-02 -7.22925039e-01 -6.93556982e+01] [-7.24368232e-01 1.08643571e-02 6.89327665e-01 -5.21606614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.37, Z:-5.23 [[-3.14343540e-02 9.98324151e-01 -4.85877668e-02 1.44699126e+02] [-6.88429281e-01 -5.68680197e-02 -7.23070642e-01 -6.93664041e+01] [-7.24621975e-01 1.07199828e-02 6.89063187e-01 -5.22806297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.37, Z:-5.24 [[-3.25887381e-02 9.98223120e-01 -4.98856447e-02 1.44700043e+02] [-6.88522568e-01 -5.86017166e-02 -7.22843353e-01 -6.93741350e+01] [-7.24482331e-01 1.07908395e-02 6.89208902e-01 -5.23637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.38, Z:-5.25 [[-3.27103418e-02 9.98154597e-01 -5.11608675e-02 1.44699378e+02] [-6.88208033e-01 -5.96139129e-02 -7.23060084e-01 -6.93832023e+01] [-7.24775646e-01 1.15577774e-02 6.88888003e-01 -5.24625553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.39, Z:-5.25 [[-3.26290506e-02 9.98092149e-01 -5.24157067e-02 1.44699358e+02] [-6.88203257e-01 -6.04670113e-02 -7.22993788e-01 -6.93889324e+01] [-7.24783845e-01 1.24820591e-02 6.88863249e-01 -5.25235751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.40, Z:-5.26 [[-3.29595790e-02 9.98011227e-01 -5.37331995e-02 1.44699079e+02] [-6.88016269e-01 -6.16522921e-02 -7.23071648e-01 -6.93978328e+01] [-7.24946398e-01 1.31371784e-02 6.88679995e-01 -5.26181021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.41, Z:-5.27 [[-3.14794183e-02 9.97969700e-01 -5.53671764e-02 1.44697937e+02] [-6.87578154e-01 -6.18267655e-02 -7.23473381e-01 -6.94050351e+01] [-7.25427687e-01 1.52947397e-02 6.88128434e-01 -5.26998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.41, Z:-5.28 [[-3.12559509e-02 9.97904757e-01 -5.66494666e-02 1.44697460e+02] [-6.87174195e-01 -6.26117649e-02 -7.23789605e-01 -6.94118540e+01] [-7.25820013e-01 1.63053192e-02 6.87691388e-01 -5.27736392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.42, Z:-5.29 [[-3.16163776e-02 9.97820600e-01 -5.79176496e-02 1.44696628e+02] [-6.86916900e-01 -6.37852405e-02 -7.23931361e-01 -6.94204867e+01] [-7.26047916e-01 1.68965250e-02 6.87436492e-01 -5.28673132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.43, Z:-5.29 [[-3.26146323e-02 9.97715248e-01 -5.91656151e-02 1.44696871e+02] [-6.86871330e-01 -6.53774254e-02 -7.23832555e-01 -6.94284420e+01] [-7.26046873e-01 1.70316320e-02 6.87434260e-01 -5.29497951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.44, Z:-5.31 [[-3.46445407e-02 9.97569774e-01 -6.04508284e-02 1.44698077e+02] [-6.86287838e-01 -6.77174206e-02 -7.24170804e-01 -6.94387066e+01] [-7.26504479e-01 1.63981035e-02 6.86966043e-01 -5.30687426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.45, Z:-5.32 [[-3.70705608e-02 9.97406700e-01 -6.16899313e-02 1.44698497e+02] [-6.86242302e-01 -7.02832782e-02 -7.23969450e-01 -6.94470102e+01] [-7.26427751e-01 1.54962869e-02 6.87068110e-01 -5.31631073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.46, Z:-5.33 [[-3.89565843e-02 9.97236131e-01 -6.32651823e-02 1.44698384e+02] [-6.86345608e-01 -7.27193049e-02 -7.23630851e-01 -6.94583063e+01] [-7.26231431e-01 1.52315938e-02 6.87281535e-01 -5.32930155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.47, Z:-5.34 [[-4.10378799e-02 9.97074606e-01 -6.44835009e-02 1.44698954e+02] [-6.86568994e-01 -7.50282006e-02 -7.23183093e-01 -6.94655754e+01] [-7.25905579e-01 1.45944715e-02 6.87639508e-01 -5.33804962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.47, Z:-5.35 [[-4.26772767e-02 9.96903227e-01 -6.60500306e-02 1.44699442e+02] [-6.86793707e-01 -7.72862798e-02 -7.22731786e-01 -6.94720036e+01] [-7.25598411e-01 1.45185209e-02 6.87965230e-01 -5.34639731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.48, Z:-5.36 [[-4.39879770e-02 9.96764050e-01 -6.72791700e-02 1.44699881e+02] [-6.86930546e-01 -7.90755877e-02 -7.22408110e-01 -6.94803973e+01] [-7.25390573e-01 1.44388457e-02 6.88186048e-01 -5.35573348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.49, Z:-5.37 [[-4.50632978e-02 9.96630616e-01 -6.85325733e-02 1.44700469e+02] [-6.86796266e-01 -8.07260277e-02 -7.22353236e-01 -6.94887581e+01] [-7.25451714e-01 1.45162965e-02 6.88119967e-01 -5.36505679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.50, Z:-5.38 [[-4.58823386e-02 9.96505994e-01 -6.97897948e-02 1.44701224e+02] [-6.86645488e-01 -8.22033800e-02 -7.22329965e-01 -6.94978697e+01] [-7.25543096e-01 1.47786597e-02 6.88018028e-01 -5.37608672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.51, Z:-5.39 [[-4.68899994e-02 9.96371661e-01 -7.10270428e-02 1.44701452e+02] [-6.86699795e-01 -8.37917069e-02 -7.22095798e-01 -6.95063506e+01] [-7.25427267e-01 1.49151842e-02 6.88137209e-01 -5.38549548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.51, Z:-5.39 [[-4.80783933e-02 9.96225159e-01 -7.22765520e-02 1.44701441e+02] [-6.86618158e-01 -8.55159019e-02 -7.21971285e-01 -6.95144023e+01] [-7.25426753e-01 1.49151736e-02 6.88137751e-01 -5.39470212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.52, Z:-5.40 [[-4.93644829e-02 9.96070665e-01 -7.35280843e-02 1.44701747e+02] [-6.86502999e-01 -8.73093668e-02 -7.21866128e-01 -6.95197320e+01] [-7.25449365e-01 1.48427022e-02 6.88115480e-01 -5.40065979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.53, Z:-5.41 [[-5.11909560e-02 9.95885632e-01 -7.47749590e-02 1.44701815e+02] [-6.86364629e-01 -8.94713326e-02 -7.21732968e-01 -6.95295133e+01] [-7.25453708e-01 1.43766863e-02 6.88120795e-01 -5.41122381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.54, Z:-5.42 [[-5.27216169e-02 9.95712808e-01 -7.60028675e-02 1.44702249e+02] [-6.86425208e-01 -9.14122549e-02 -7.21432071e-01 -6.95372826e+01] [-7.25286747e-01 1.41352188e-02 6.88301773e-01 -5.42054664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.54, Z:-5.43 [[-5.39840439e-02 9.95550522e-01 -7.72326403e-02 1.44702803e+02] [-6.86490892e-01 -9.31700176e-02 -7.21144648e-01 -6.95449146e+01] [-7.25131697e-01 1.40891997e-02 6.88466060e-01 -5.42998375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.70, Y:-69.56, Z:-5.44 [[-5.46925834e-02 9.95418518e-01 -7.84263646e-02 1.44702382e+02] [-6.86941343e-01 -9.45129931e-02 -7.20540689e-01 -6.95554494e+01] [-7.24651856e-01 1.44660805e-02 6.88963294e-01 -5.44231351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-69.56, Z:-5.43 [[-6.10141100e-02 9.96525298e-01 -5.66975148e-02 1.44686185e+02] [-6.96507047e-01 -8.31947609e-02 -7.12710716e-01 -6.95647943e+01] [-7.14951195e-01 -3.99519140e-03 6.99162947e-01 -5.43483554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-70.11, Z:-5.23 [[-6.58338281e-02 -4.15144968e-01 -9.07370135e-01 1.45626609e+02] [-6.44753174e-01 -6.76317978e-01 3.56212490e-01 -7.01142115e+01] [-7.61550558e-01 6.08480606e-01 -2.23141434e-01 -5.22807165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.64, Y:-69.75, Z:-5.59 [[-4.37025141e-02 9.98570758e-01 -3.07657498e-02 1.44641967e+02] [-6.50913571e-01 -5.18220205e-02 -7.57381014e-01 -6.97500303e+01] [-7.57892877e-01 -1.30736104e-02 6.52248011e-01 -5.58538118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:-70.26, Z:-5.44 [[-5.70296951e-02 -3.48301024e-01 -9.35646306e-01 1.45597775e+02] [-5.97222483e-01 -7.39100597e-01 3.11537500e-01 -7.02606429e+01] [-8.00045574e-01 5.76555899e-01 -1.65862521e-01 -5.44489814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.30, Y:-70.49, Z:-5.39 [[-3.88658762e-02 3.29817715e-01 9.43244252e-01 1.44299155e+02] [-6.15700123e-01 7.35572158e-01 -2.82572041e-01 -7.04901737e+01] [-7.87021475e-01 -5.91738012e-01 1.74480151e-01 -5.38755554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.95, Z:-5.88 [[-3.52015762e-02 9.96690598e-01 -7.32714204e-02 1.44651153e+02] [-6.37711938e-01 -7.88520559e-02 -7.66228320e-01 -6.99510878e+01] [-7.69470164e-01 1.97536149e-02 6.38377209e-01 -5.88120616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.96, Z:-5.89 [[-3.56214236e-02 9.96300742e-01 -7.82045182e-02 1.44652953e+02] [-6.37625467e-01 -8.29144505e-02 -7.65871371e-01 -6.99609088e+01] [-7.69522500e-01 2.25837639e-02 6.38220256e-01 -5.89491349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.97, Z:-5.90 [[-3.61036743e-02 9.96169627e-01 -7.96404414e-02 1.44653508e+02] [-6.37438577e-01 -8.43312986e-02 -7.65872243e-01 -6.99652766e+01] [-7.69654848e-01 2.31150877e-02 6.38041619e-01 -5.90103243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.97, Z:-5.91 [[-3.64022564e-02 9.96003581e-01 -8.15582182e-02 1.44653749e+02] [-6.36975678e-01 -8.60104402e-02 -7.66070617e-01 -6.99732161e+01] [-7.70023936e-01 2.40639023e-02 6.37561030e-01 -5.91155783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.98, Z:-5.92 [[-3.72071313e-02 9.95853292e-01 -8.30171700e-02 1.44654198e+02] [-6.36500804e-01 -8.76601256e-02 -7.66278297e-01 -6.99806845e+01] [-7.70378060e-01 2.43294783e-02 6.37123003e-01 -5.92203551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.99, Z:-5.93 [[-3.83643694e-02 9.95689866e-01 -8.44385281e-02 1.44654564e+02] [-6.36420154e-01 -8.94927629e-02 -7.66133430e-01 -6.99865199e+01] [-7.70387930e-01 2.43461551e-02 6.37110432e-01 -5.92997561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.65, Y:-69.99, Z:-5.94 [[-3.97454703e-02 9.95516852e-01 -8.58282848e-02 1.44654739e+02] [-6.36637716e-01 -9.14340984e-02 -7.65723334e-01 -6.99945772e+01] [-7.70138115e-01 2.42074891e-02 6.37417666e-01 -5.94056865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:144.66, Y:-69.99, Z:-5.94 [[-4.18695686e-02 9.95313659e-01 -8.71645492e-02 1.44655459e+02] [-6.37979684e-01 -9.37731922e-02 -7.64322256e-01 -6.99946825e+01] [-7.68914080e-01 2.36073684e-02 6.38916137e-01 -5.94188402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.01, Z:-5.96 [[-4.27140623e-02 9.95143530e-01 -8.86840651e-02 1.44656243e+02] [-6.36789556e-01 -9.55157882e-02 -7.65098552e-01 -7.00052539e+01] [-7.69853603e-01 2.37926192e-02 6.37776874e-01 -5.95944830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.04, Z:-5.99 [[-5.07447183e-02 9.94658421e-01 -8.98865954e-02 1.44653877e+02] [-6.37665056e-01 -1.01537231e-01 -7.63592474e-01 -7.00355702e+01] [-7.68640520e-01 1.85692559e-02 6.39411396e-01 -5.99357880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.04, Z:-6.00 [[-5.25600063e-02 9.93833776e-01 -9.76313034e-02 1.44658909e+02] [-6.37639671e-01 -1.08641337e-01 -7.62635372e-01 -7.00384359e+01] [-7.68539587e-01 2.21694722e-02 6.39418031e-01 -6.00090811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.06, Z:-6.03 [[-5.62343154e-02 9.93471687e-01 -9.92557769e-02 1.44657207e+02] [-6.35742928e-01 -1.12284288e-01 -7.63690492e-01 -7.00612034e+01] [-7.69849746e-01 2.01555463e-02 6.37906829e-01 -6.02967011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.07, Z:-6.04 [[-5.92381346e-02 9.93157676e-01 -1.00641313e-01 1.44656996e+02] [-6.35623584e-01 -1.15265940e-01 -7.63345546e-01 -7.00689950e+01] [-7.69723004e-01 1.87508256e-02 6.38102581e-01 -6.03921877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.07, Z:-6.04 [[-6.20222073e-02 9.92789944e-01 -1.02573745e-01 1.44658133e+02] [-6.36594800e-01 -1.18502669e-01 -7.62039486e-01 -7.00687206e+01] [-7.68700401e-01 1.80345418e-02 6.39354713e-01 -6.03848052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.09, Z:-6.06 [[-6.64295437e-02 9.92330445e-01 -1.04246841e-01 1.44657548e+02] [-6.34285431e-01 -1.22648416e-01 -7.63308168e-01 -7.00887880e+01] [-7.70239643e-01 1.54160392e-02 6.37568222e-01 -6.06428371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.09, Z:-6.07 [[-6.88497542e-02 9.92017514e-01 -1.05645461e-01 1.44659317e+02] [-6.34139467e-01 -1.25268201e-01 -7.63003941e-01 -7.00884271e+01] [-7.70147290e-01 1.44613226e-02 6.37702142e-01 -6.06635359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.10, Z:-6.08 [[-7.21475593e-02 9.91636171e-01 -1.07016048e-01 1.44659092e+02] [-6.34144349e-01 -1.28423160e-01 -7.62475204e-01 -7.00964601e+01] [-7.69841331e-01 1.28528974e-02 6.38105891e-01 -6.07626807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.10, Z:-6.08 [[-7.54925538e-02 9.91245333e-01 -1.08321578e-01 1.44658495e+02] [-6.35147317e-01 -1.31544834e-01 -7.61106985e-01 -7.01046703e+01] [-7.68692890e-01 1.13422500e-02 6.39517469e-01 -6.08410389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.12, Z:-6.11 [[-7.97650595e-02 9.90732186e-01 -1.09942125e-01 1.44656309e+02] [-6.33320005e-01 -1.35540970e-01 -7.61928092e-01 -7.01236005e+01] [-7.69768346e-01 8.85330760e-03 6.38261946e-01 -6.10990649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.13, Z:-6.12 [[-8.24393525e-02 9.90353539e-01 -1.11371543e-01 1.44655405e+02] [-6.32868302e-01 -1.38350512e-01 -7.61798430e-01 -7.01321911e+01] [-7.69858081e-01 7.68134981e-03 6.38168889e-01 -6.12080891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.14, Z:-6.13 [[-8.49082506e-02 9.89979677e-01 -1.12830976e-01 1.44654771e+02] [-6.32791755e-01 -1.41048390e-01 -7.61367156e-01 -7.01390270e+01] [-7.69652638e-01 6.75215784e-03 6.38427149e-01 -6.12925445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.15, Z:-6.14 [[-8.82902596e-02 9.89520309e-01 -1.14255805e-01 1.44653938e+02] [-6.32314179e-01 -1.44305668e-01 -7.61153501e-01 -7.01481054e+01] [-7.69664608e-01 5.04312545e-03 6.38428507e-01 -6.14061362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.15, Z:-6.15 [[-9.09978989e-02 9.89069465e-01 -1.16021448e-01 1.44653135e+02] [-6.32821367e-01 -1.47389058e-01 -7.60140502e-01 -7.01542708e+01] [-7.68932052e-01 4.24966273e-03 6.39316385e-01 -6.14728559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.16, Z:-6.16 [[-9.21245101e-02 9.88731305e-01 -1.17997799e-01 1.44652664e+02] [-6.31868037e-01 -1.49633441e-01 -7.60494982e-01 -7.01647998e+01] [-7.69581613e-01 4.49881018e-03 6.38532616e-01 -6.16256553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.17, Z:-6.16 [[-9.43122584e-02 9.88356918e-01 -1.19397661e-01 1.44649495e+02] [-6.31719516e-01 -1.52107338e-01 -7.60127497e-01 -7.01684636e+01] [-7.69438530e-01 3.73649195e-03 6.38709940e-01 -6.16435163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.18, Z:-6.18 [[-9.36122854e-02 9.88216209e-01 -1.21101052e-01 1.44648508e+02] [-6.29647412e-01 -1.52984406e-01 -7.61669160e-01 -7.01828078e+01] [-7.71220382e-01 4.94937311e-03 6.36548998e-01 -6.18493482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-70.19, Z:-6.20 [[-9.36938776e-02 9.87965033e-01 -1.23071321e-01 1.44647389e+02] [-6.29493307e-01 -1.54556000e-01 -7.61479231e-01 -7.01903196e+01] [-7.71336265e-01 6.12663060e-03 6.36398327e-01 -6.19526287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.64, Y:-70.20, Z:-6.20 [[-9.72998617e-02 9.88725626e-01 -1.13817280e-01 1.44637190e+02] [-6.33428985e-01 -1.49728067e-01 -7.59176677e-01 -7.01963657e+01] [-7.67659077e-01 -1.77262152e-03 6.40855990e-01 -6.19578708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:-70.84, Z:-5.97 [[-8.33367119e-02 -5.47863069e-01 -8.32406782e-01 1.45543600e+02] [-5.77345051e-01 -6.54295122e-01 4.88436880e-01 -7.08427333e+01] [-8.12236225e-01 5.21290659e-01 -2.61779227e-01 -5.97470411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:144.60, Y:-71.35, Z:-5.71 [[-2.23878092e-02 -5.80078092e-01 8.14253150e-01 1.44596669e+02] [-6.16698602e-01 6.49054469e-01 4.45433644e-01 -7.13546959e+01] [-7.86880945e-01 -4.92176496e-01 -3.72264256e-01 -5.70809563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:144.51, Y:-70.45, Z:-6.47 [[-1.89683079e-02 9.99752723e-01 -1.16058933e-02 1.44510171e+02] [-6.34149571e-01 -2.10044239e-02 -7.72925052e-01 -7.04458796e+01] [-7.72977700e-01 -7.30120809e-03 6.34391179e-01 -6.46920335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:-71.15, Z:-6.11 [[ 6.56010425e-03 -7.39929966e-01 -6.72651924e-01 1.45468281e+02] [-5.90684091e-01 -5.45637529e-01 5.94451000e-01 -7.11516681e+01] [-8.06876242e-01 3.93425130e-01 -4.40644298e-01 -6.11057776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.36, Y:-71.48, Z:-6.07 [[ 4.04307293e-02 -2.41113195e-01 9.69654466e-01 1.44364185e+02] [-6.29010999e-01 7.47876419e-01 2.12193368e-01 -7.14798630e+01] [-7.76344330e-01 -6.18502457e-01 -1.21425663e-01 -6.07378001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85361786499996 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:144.46, Y:-70.70, Z:-6.77 [[ 5.46630184e-02 9.97893353e-01 3.49400959e-02 1.44462760e+02] [-6.40635065e-01 6.18907309e-02 -7.65347144e-01 -7.07015957e+01] [-7.65897296e-01 1.94523345e-02 6.42668607e-01 -6.76687690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88361786499996 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:145.07, Y:-71.62, Z:-5.98 [[ 9.76950986e-02 -9.68840354e-01 2.27605001e-01 1.45068316e+02] [-6.42368247e-01 1.13293086e-01 7.57976063e-01 -7.16199738e+01] [-7.60143870e-01 -2.20256772e-01 -6.11284100e-01 -5.98073959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.46, Y:-71.35, Z:-6.15 [[ 0.1645065 -0.86924896 -0.46620151 145.45658939] [ -0.61999737 -0.45872512 0.63653321 -71.35206974] [ -0.76716418 0.18432986 -0.61439533 -6.14986345] [ 0. 0. 0. 1. ]] SLAMing on 173.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-71.48, Z:-6.08 [[ 2.38135566e-01 -9.46079766e-01 -2.19600839e-01 1.45345586e+02] [-5.92616119e-01 -3.20676897e-01 7.38899495e-01 -7.14815385e+01] [-7.69478777e-01 -4.58192529e-02 -6.37026693e-01 -6.08389836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.41, Y:-70.94, Z:-6.87 [[ 2.76602785e-01 9.12923244e-01 3.00103400e-01 1.44405696e+02] [-5.86477475e-01 4.07752709e-01 -6.99844197e-01 -7.09350695e+01] [-7.61272009e-01 1.75749702e-02 6.48194453e-01 -6.86527021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.90, Y:-71.81, Z:-6.19 [[ 0.29683304 -0.7798504 0.55111115 144.89540299] [ -0.60153456 0.29552434 0.74217353 -71.80500433] [ -0.74165108 -0.55181402 -0.38138558 -6.18792561] [ 0. 0. 0. 1. ]] SLAMing on 174.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:-71.09, Z:-7.02 [[ 3.28352478e-01 8.83811626e-01 3.33259149e-01 1.44447785e+02] [-6.05505991e-01 4.67743846e-01 -6.43877465e-01 -7.10923146e+01] [-7.24946305e-01 9.62834970e-03 6.88738085e-01 -7.01568337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-71.11, Z:-7.04 [[ 3.29780392e-01 8.84197955e-01 3.30815461e-01 1.44462459e+02] [-6.04690556e-01 4.66938553e-01 -6.45226874e-01 -7.11145934e+01] [-7.24978775e-01 1.27421864e-02 6.88653333e-01 -7.04094570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:144.47, Y:-71.13, Z:-7.07 [[ 3.28912261e-01 8.86164662e-01 3.26387678e-01 1.44474500e+02] [-6.04026835e-01 4.63087528e-01 -6.48615082e-01 -7.11316531e+01] [-7.25925828e-01 1.61905375e-02 6.87582402e-01 -7.06985572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:145.49, Y:-71.61, Z:-6.34 [[ 3.52457812e-01 -8.80783554e-01 -3.16217996e-01 1.45485473e+02] [-5.86891500e-01 -4.71232901e-01 6.58405589e-01 -7.16112185e+01] [-7.28925139e-01 -4.64745389e-02 -6.83014099e-01 -6.33509734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:-71.26, Z:-7.16 [[ 3.93573155e-01 8.31358133e-01 3.92356760e-01 1.44508959e+02] [-5.69140412e-01 5.55527078e-01 -6.06192096e-01 -7.12632732e+01] [-7.21927533e-01 1.52748473e-02 6.91800055e-01 -7.16383494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.53, Y:-71.28, Z:-7.19 [[ 3.92692885e-01 8.36004261e-01 3.83261233e-01 1.44527025e+02] [-5.69937301e-01 5.48285895e-01 -6.12008211e-01 -7.12761328e+01] [-7.21778201e-01 2.18963978e-02 6.91777982e-01 -7.19289921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-72.03, Z:-6.71 [[ 3.90067526e-01 -3.11025261e-01 8.66666379e-01 1.44704830e+02] [-6.07692549e-01 6.20176677e-01 4.96075252e-01 -7.20269120e+01] [-6.91778209e-01 -7.20169547e-01 5.29030484e-02 -6.70631771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.55, Y:-71.15, Z:-7.24 [[ 3.78598885e-01 3.17405888e-01 -8.69434521e-01 1.45551240e+02] [-5.89947249e-01 -6.41056466e-01 -4.90926523e-01 -7.11529155e+01] [-7.13179590e-01 6.98784738e-01 -5.54505329e-02 -7.23593419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:144.66, Y:-71.53, Z:-7.44 [[ 3.88040308e-01 8.21317036e-01 4.18166290e-01 1.44663713e+02] [-5.73201209e-01 5.70358149e-01 -5.88329801e-01 -7.15266906e+01] [-7.21709840e-01 -1.13977458e-02 6.92101870e-01 -7.44334926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:145.65, Y:-71.29, Z:-7.35 [[ 3.55586316e-01 2.93750125e-01 -8.87281937e-01 1.45648473e+02] [-5.41667710e-01 -7.08876114e-01 -4.51764040e-01 -7.12857287e+01] [-7.61678715e-01 6.41253085e-01 -9.29516883e-02 -7.34664257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-71.60, Z:-7.58 [[ 3.68458322e-01 8.32598663e-01 4.13543143e-01 1.44744417e+02] [-5.21241111e-01 5.53363992e-01 -6.49689153e-01 -7.16011940e+01] [-7.69770205e-01 2.38276881e-02 6.37876220e-01 -7.57572612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.74, Y:-71.65, Z:-7.59 [[ 3.69107091e-01 8.11930951e-01 4.52247816e-01 1.44742196e+02] [-5.24886504e-01 5.83688495e-01 -6.19517473e-01 -7.16502918e+01] [-7.66977258e-01 -8.71048248e-03 6.41615160e-01 -7.58820433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-71.40, Z:-7.51 [[ 3.35403225e-01 3.36088406e-01 -8.80084803e-01 1.45714814e+02] [-4.92362565e-01 -7.33919540e-01 -4.67911545e-01 -7.13981450e+01] [-8.03171079e-01 5.90259852e-01 -8.06816309e-02 -7.50998385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-71.73, Z:-7.72 [[ 3.52699389e-01 8.10085421e-01 4.68363910e-01 1.44809573e+02] [-4.73150853e-01 5.86220725e-01 -6.57627199e-01 -7.17346477e+01] [-8.07298837e-01 1.03379277e-02 5.90052299e-01 -7.71636753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-71.49, Z:-7.66 [[ 3.14462517e-01 3.81232102e-01 -8.69353444e-01 1.45767747e+02] [-4.42068833e-01 -7.51632481e-01 -4.89513801e-01 -7.14865679e+01] [-8.40052661e-01 5.38247804e-01 -6.78294109e-02 -7.65972645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-71.82, Z:-7.85 [[ 3.30699729e-01 8.03293233e-01 4.95335918e-01 1.44868935e+02] [-4.21211315e-01 5.95322625e-01 -6.84230955e-01 -7.18249804e+01] [-8.44522775e-01 1.76338981e-02 5.35229230e-01 -7.84932476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:-71.62, Z:-7.74 [[ 0.30313555 0.23817751 -0.92270272 145.9151535 ] [ -0.38610584 -0.85452732 -0.34742674 -71.62367562] [ -0.87122392 0.4615783 -0.16707588 -7.73879527] [ 0. 0. 0. 1. ]] SLAMing on 174.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-72.31, Z:-7.45 [[ 3.41604958e-01 -7.60162426e-01 -5.52683579e-01 1.46034022e+02] [-3.33868081e-01 -6.47854363e-01 6.84702000e-01 -7.23066944e+01] [-8.78543202e-01 -4.93741916e-02 -4.75104233e-01 -7.45217213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:-72.03, Z:-8.05 [[ 3.72329156e-01 6.58186401e-01 6.54340631e-01 1.44906177e+02] [-3.01468916e-01 7.52569886e-01 -5.85452867e-01 -7.20348183e+01] [-8.77774169e-01 2.07178109e-02 4.78626451e-01 -8.04675359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:-72.04, Z:-8.08 [[ 3.72762295e-01 6.58135186e-01 6.54145511e-01 1.44918700e+02] [-3.00583865e-01 7.52584931e-01 -5.85888438e-01 -7.20438831e+01] [-8.77893850e-01 2.17715331e-02 4.78360104e-01 -8.07618598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-72.05, Z:-8.11 [[ 3.73254836e-01 6.58099294e-01 6.53900716e-01 1.44931566e+02] [-2.99739607e-01 7.52584425e-01 -5.86321457e-01 -7.20528617e+01] [-8.77973232e-01 2.28473761e-02 4.78164200e-01 -8.10544692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:-72.06, Z:-8.13 [[ 3.75182342e-01 6.57370546e-01 6.53530547e-01 1.44944965e+02] [-2.97683983e-01 7.53133885e-01 -5.86663104e-01 -7.20602740e+01] [-8.77851045e-01 2.55600609e-02 4.78251217e-01 -8.13407214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-72.07, Z:-8.16 [[ 3.76159978e-01 6.57243711e-01 6.53095993e-01 1.44957754e+02] [-2.97043161e-01 7.53202526e-01 -5.86899749e-01 -7.20694679e+01] [-8.77649720e-01 2.67704979e-02 4.78554395e-01 -8.16292561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:-72.08, Z:-8.19 [[ 3.78137910e-01 6.56620521e-01 6.52580426e-01 1.44971178e+02] [-2.95478495e-01 7.53656280e-01 -5.87107035e-01 -7.20762814e+01] [-8.77327863e-01 2.91839451e-02 4.79003254e-01 -8.19088253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-72.09, Z:-8.22 [[ 3.79233362e-01 6.56413629e-01 6.52152747e-01 1.44984268e+02] [-2.94681429e-01 7.53781789e-01 -5.87346465e-01 -7.20855009e+01] [-8.77123089e-01 3.05640709e-02 4.79292108e-01 -8.22003316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-72.09, Z:-8.25 [[ 3.79946916e-01 6.56361567e-01 6.51789716e-01 1.44996981e+02] [-2.94010301e-01 7.53782092e-01 -5.87682312e-01 -7.20946365e+01] [-8.77039500e-01 3.16551918e-02 4.79374243e-01 -8.24837796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:-72.10, Z:-8.28 [[ 3.80962632e-01 6.56255602e-01 6.51303353e-01 1.45010275e+02] [-2.93538777e-01 7.53826704e-01 -5.87860772e-01 -7.21038533e+01] [-8.76756785e-01 3.27701976e-02 4.79816272e-01 -8.27730148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-72.11, Z:-8.31 [[ 3.81808701e-01 6.55869516e-01 6.51196816e-01 1.45025193e+02] [-2.91753056e-01 7.54077313e-01 -5.88428041e-01 -7.21105342e+01] [-8.76984760e-01 3.46782850e-02 4.79265215e-01 -8.30570024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:-72.12, Z:-8.33 [[ 3.81795620e-01 6.56000608e-01 6.51072429e-01 1.45038746e+02] [-2.91481876e-01 7.53948514e-01 -5.88727402e-01 -7.21195031e+01] [-8.77080624e-01 3.49977308e-02 4.79066528e-01 -8.33495782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.05, Y:-72.13, Z:-8.36 [[ 3.82160829e-01 6.56166783e-01 6.50690597e-01 1.45052090e+02] [-2.91282383e-01 7.53776846e-01 -5.89045873e-01 -7.21279884e+01] [-8.76987841e-01 3.55755508e-02 4.79193809e-01 -8.36401939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.07, Y:-72.14, Z:-8.39 [[ 3.82417858e-01 6.56491808e-01 6.50211572e-01 1.45066731e+02] [-2.91577006e-01 7.53484962e-01 -5.89273504e-01 -7.21352729e+01] [-8.76777869e-01 3.57619672e-02 4.79564021e-01 -8.39244667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.08, Y:-72.14, Z:-8.42 [[ 3.81674953e-01 6.57106619e-01 6.50027016e-01 1.45079712e+02] [-2.91913579e-01 7.52968421e-01 -5.89766920e-01 -7.21439876e+01] [-8.76989563e-01 3.53475492e-02 4.79207531e-01 -8.42124065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.09, Y:-72.15, Z:-8.45 [[ 3.81166284e-01 6.57754858e-01 6.49669770e-01 1.45092917e+02] [-2.92627354e-01 7.52426971e-01 -5.90104130e-01 -7.21522882e+01] [-8.76972916e-01 3.48166531e-02 4.79276856e-01 -8.44893088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:145.11, Y:-72.15, Z:-8.48 [[ 3.83207298e-01 6.67493348e-01 6.38439345e-01 1.45111923e+02] [-2.95258965e-01 7.43461329e-01 -6.00072825e-01 -7.21511674e+01] [-8.75199583e-01 4.14473454e-02 4.81983202e-01 -8.48162193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05361786499998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:145.12, Y:-72.17, Z:-8.51 [[ 3.79482678e-01 6.59293717e-01 6.49095287e-01 1.45121699e+02] [-2.95211416e-01 7.51185984e-01 -5.90398033e-01 -7.21677209e+01] [-8.76836996e-01 3.24254878e-02 4.79693101e-01 -8.50530139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:146.25, Y:-72.41, Z:-7.97 [[ 3.81880621e-01 -6.47700292e-01 -6.59281066e-01 1.46252933e+02] [-2.90622912e-01 -7.61314700e-01 5.79601804e-01 -7.24086464e+01] [-8.77328624e-01 -2.97365137e-02 -4.78967875e-01 -7.96587535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11361786499998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:145.16, Y:-72.25, Z:-8.56 [[ 4.26139210e-01 5.32483732e-01 7.31345643e-01 1.45157866e+02] [-2.35099875e-01 8.45830661e-01 -4.78851273e-01 -7.22478233e+01] [-8.73575081e-01 3.21180340e-02 4.85628468e-01 -8.55872407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:145.17, Y:-72.25, Z:-8.59 [[ 4.26415907e-01 5.31095402e-01 7.32193381e-01 1.45174758e+02] [-2.37008533e-01 8.46797618e-01 -4.76194025e-01 -7.22547828e+01] [-8.72924069e-01 2.95206281e-02 4.86962116e-01 -8.58608734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.19, Y:-72.26, Z:-8.62 [[ 4.23636610e-01 5.31464377e-01 7.33537756e-01 1.45186948e+02] [-2.34917755e-01 8.46547885e-01 -4.77671777e-01 -7.22583911e+01] [-8.74840369e-01 3.00382093e-02 4.83479094e-01 -8.61627171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.21, Y:-72.30, Z:-8.63 [[ 4.30296617e-01 5.03530765e-01 7.49200634e-01 1.45206489e+02] [-2.40524117e-01 8.63917083e-01 -4.42487767e-01 -7.22966818e+01] [-8.70053430e-01 1.02001683e-02 4.92851890e-01 -8.63490250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23361786499996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:145.22, Y:-72.24, Z:-8.68 [[ 4.26187757e-01 5.67019427e-01 7.04877979e-01 1.45223746e+02] [-2.34152695e-01 8.21774931e-01 -5.19479044e-01 -7.22393987e+01] [-8.73805763e-01 5.63465307e-02 4.82999542e-01 -8.67831564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26361786499996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:145.24, Y:-72.33, Z:-8.68 [[ 4.33037469e-01 4.77101767e-01 7.64756468e-01 1.45238381e+02] [-2.40956043e-01 8.78828007e-01 -4.11827050e-01 -7.23336451e+01] [-8.68572816e-01 -5.93614925e-03 4.95526010e-01 -8.68332890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29361786499996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:145.26, Y:-72.26, Z:-8.73 [[ 4.31615004e-01 5.64220305e-01 7.03820954e-01 1.45258896e+02] [-2.37113677e-01 8.23764771e-01 -5.14964762e-01 -7.22620062e+01] [-8.70336482e-01 5.53809438e-02 4.89333586e-01 -8.73107533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32361786499996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:145.27, Y:-72.29, Z:-8.75 [[ 4.31477610e-01 5.35063254e-01 7.26315624e-01 1.45267926e+02] [-2.35407415e-01 8.44003329e-01 -4.81914649e-01 -7.22927933e+01] [-8.70867625e-01 3.69552973e-02 4.90126397e-01 -8.75436557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.29, Y:-72.32, Z:-8.78 [[ 4.37416237e-01 5.13939569e-01 7.37924898e-01 1.45286115e+02] [-2.38974720e-01 8.57519832e-01 -4.55577460e-01 -7.23224809e+01] [-8.66924518e-01 2.29315824e-02 4.97911662e-01 -8.77703699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38361786499996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:145.30, Y:-72.31, Z:-8.81 [[ 4.34693476e-01 5.34978245e-01 7.24458321e-01 1.45301268e+02] [-2.36226778e-01 8.44002948e-01 -4.81514209e-01 -7.23106915e+01] [-8.69044585e-01 3.81746303e-02 4.93258763e-01 -8.80858528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-72.27, Z:-8.85 [[ 4.31750673e-01 5.80127126e-01 6.90683628e-01 1.45316591e+02] [-2.30562341e-01 8.11272496e-01 -5.37287581e-01 -7.22668565e+01] [-8.72027731e-01 7.27286405e-02 4.84022915e-01 -8.84765347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44361786499996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:145.32, Y:-72.29, Z:-8.87 [[ 4.26563404e-01 5.51058229e-01 7.17201848e-01 1.45317714e+02] [-2.27977559e-01 8.32868279e-01 -5.04337846e-01 -7.22944014e+01] [-8.75254189e-01 5.16261421e-02 4.80900038e-01 -8.87389602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:-72.32, Z:-8.90 [[ 4.23857701e-01 5.24502001e-01 7.38405241e-01 1.45328127e+02] [-2.28649123e-01 8.50819153e-01 -4.73102894e-01 -7.23223422e+01] [-8.76392736e-01 3.16925942e-02 4.80553173e-01 -8.90000883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-72.34, Z:-8.92 [[ 4.23849564e-01 5.13276842e-01 7.46256277e-01 1.45342797e+02] [-2.28825960e-01 8.57880575e-01 -4.60086513e-01 -7.23373862e+01] [-8.76350516e-01 2.42446586e-02 4.81063374e-01 -8.92380844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:-72.32, Z:-8.96 [[ 4.22785829e-01 5.47553576e-01 7.22106103e-01 1.45359943e+02] [-2.32679715e-01 8.35700846e-01 -4.97457783e-01 -7.23188599e+01] [-8.75849469e-01 4.22986593e-02 4.80727085e-01 -8.96017959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-72.34, Z:-8.98 [[ 4.21018883e-01 5.22399602e-01 7.41513153e-01 1.45367974e+02] [-2.31756618e-01 8.52317798e-01 -4.68874441e-01 -7.23420123e+01] [-8.76944679e-01 2.55544130e-02 4.79911452e-01 -8.98222113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:-72.34, Z:-9.01 [[ 4.19825471e-01 5.38621354e-01 7.30502300e-01 1.45383191e+02] [-2.37650567e-01 8.42024151e-01 -4.84270107e-01 -7.23416383e+01] [-8.75938800e-01 2.97046399e-02 4.81506857e-01 -9.01271981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-72.35, Z:-9.04 [[ 4.15518701e-01 5.27995095e-01 7.40652003e-01 1.45392883e+02] [-2.38187847e-01 8.49022282e-01 -4.71622427e-01 -7.23518865e+01] [-8.77844382e-01 1.95536321e-02 4.78546651e-01 -9.04089483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-72.37, Z:-9.07 [[ 4.13213148e-01 5.25971904e-01 7.43376385e-01 1.45407724e+02] [-2.45378025e-01 8.50444637e-01 -4.65331649e-01 -7.23693754e+01] [-8.76951834e-01 9.87292634e-03 4.80476853e-01 -9.06852430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-72.36, Z:-9.10 [[ 4.12137161e-01 5.42533131e-01 7.31984127e-01 1.45424927e+02] [-2.49602469e-01 8.39883299e-01 -4.81969554e-01 -7.23637291e+01] [-8.76265695e-01 1.59325184e-02 4.81564728e-01 -9.09943599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-72.37, Z:-9.13 [[ 4.08859189e-01 5.44558012e-01 7.32318739e-01 1.45437827e+02] [-2.52163055e-01 8.38626361e-01 -4.82824627e-01 -7.23735828e+01] [-8.77067818e-01 1.27435552e-02 4.80197506e-01 -9.12666069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:-72.38, Z:-9.16 [[ 4.07132098e-01 5.46141029e-01 7.32102063e-01 1.45451087e+02] [-2.54618550e-01 8.37629349e-01 -4.83266457e-01 -7.23820824e+01] [-8.77161815e-01 1.03465202e-02 4.80083431e-01 -9.15550502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:-72.44, Z:-9.17 [[ 4.10682967e-01 5.04808181e-01 7.59281371e-01 1.45467087e+02] [-2.66900419e-01 8.62829272e-01 -4.29289895e-01 -7.24385754e+01] [-8.71839244e-01 -2.63504682e-02 4.89082801e-01 -9.17331895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:-72.40, Z:-9.21 [[ 4.07599208e-01 5.64583714e-01 7.17710328e-01 1.45490071e+02] [-2.69252077e-01 8.25326114e-01 -4.96326631e-01 -7.24027692e+01] [-8.72563009e-01 9.05734517e-03 4.88417608e-01 -9.21270717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:-72.35, Z:-9.25 [[ 4.02494318e-01 6.21841546e-01 6.71797154e-01 1.45508113e+02] [-2.65025521e-01 7.81593543e-01 -5.64688416e-01 -7.23532990e+01] [-8.76219035e-01 4.92404886e-02 4.79390839e-01 -9.25235125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:-72.43, Z:-9.27 [[ 3.98502841e-01 5.43954763e-01 7.38450203e-01 1.45499222e+02] [-2.65250190e-01 8.39088530e-01 -4.74945023e-01 -7.24264971e+01] [-8.77973703e-01 -6.60711601e-03 4.78663267e-01 -9.26644192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:-72.43, Z:-9.30 [[ 3.99870319e-01 5.54367147e-01 7.29918348e-01 1.45514258e+02] [-2.65650369e-01 8.32271967e-01 -4.86572970e-01 -7.24282286e+01] [-8.77230648e-01 6.63010353e-04 4.80068694e-01 -9.29931924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-72.44, Z:-9.32 [[ 3.97385110e-01 5.48378451e-01 7.35775883e-01 1.45524168e+02] [-2.64892069e-01 8.36220289e-01 -4.80174780e-01 -7.24425768e+01] [-8.78588223e-01 -4.08688852e-03 4.77562594e-01 -9.32416341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:-72.45, Z:-9.35 [[ 3.97295114e-01 5.53975808e-01 7.31619708e-01 1.45536758e+02] [-2.64354830e-01 8.32532765e-01 -4.86832332e-01 -7.24501687e+01] [-8.78790713e-01 8.90329172e-06 4.77207380e-01 -9.35423312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-72.46, Z:-9.38 [[ 3.97975922e-01 5.57903512e-01 7.28257397e-01 1.45548750e+02] [-2.64432622e-01 8.29900626e-01 -4.91264021e-01 -7.24570104e+01] [-8.78459193e-01 2.93623876e-03 4.77808355e-01 -9.38392624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:-72.47, Z:-9.41 [[ 4.00158020e-01 5.58741592e-01 7.26416818e-01 1.45560879e+02] [-2.64507303e-01 8.29327851e-01 -4.92190209e-01 -7.24667487e+01] [-8.77444839e-01 4.81130592e-03 4.79653423e-01 -9.41351077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:-72.49, Z:-9.44 [[ 3.97927209e-01 5.46941365e-01 7.36552156e-01 1.45569821e+02] [-2.62623809e-01 8.37167117e-01 -4.79770731e-01 -7.24864392e+01] [-8.79023703e-01 -2.52230476e-03 4.76771399e-01 -9.43846276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-72.49, Z:-9.47 [[ 3.99138263e-01 5.53616506e-01 7.30888098e-01 1.45581198e+02] [-2.61802253e-01 8.32764970e-01 -4.87813576e-01 -7.24930223e+01] [-8.78719652e-01 3.35691300e-03 4.77326412e-01 -9.46797082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:-72.50, Z:-9.50 [[ 3.99479338e-01 5.53865149e-01 7.30513282e-01 1.45592808e+02] [-2.61734792e-01 8.32597720e-01 -4.88135162e-01 -7.25034619e+01] [-8.78584747e-01 3.79916987e-03 4.77571366e-01 -9.49716770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-72.51, Z:-9.53 [[ 4.03036026e-01 5.62405754e-01 7.21984578e-01 1.45606196e+02] [-2.62321091e-01 8.26786058e-01 -4.97606732e-01 -7.25068314e+01] [-8.76783672e-01 1.11616575e-02 4.80755458e-01 -9.52834123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-72.53, Z:-9.55 [[ 4.01707757e-01 5.50459984e-01 7.31863842e-01 1.45613286e+02] [-2.60663499e-01 8.34851982e-01 -4.84847098e-01 -7.25290782e+01] [-8.77886905e-01 3.99665077e-03 4.78851343e-01 -9.55304158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-72.54, Z:-9.58 [[ 4.02448625e-01 5.53641335e-01 7.29051696e-01 1.45625468e+02] [-2.60613763e-01 8.32729078e-01 -4.88510746e-01 -7.25373696e+01] [-8.77562289e-01 6.59957245e-03 4.79417224e-01 -9.58250494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:-72.55, Z:-9.61 [[ 4.04041233e-01 5.53465701e-01 7.28303783e-01 1.45635665e+02] [-2.60107239e-01 8.32833755e-01 -4.88602252e-01 -7.25501890e+01] [-8.76980562e-01 7.97837003e-03 4.80459613e-01 -9.61061101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:-72.56, Z:-9.64 [[ 4.04651375e-01 5.53644969e-01 7.27828629e-01 1.45647291e+02] [-2.60068443e-01 8.32709202e-01 -4.88835136e-01 -7.25609012e+01] [-8.76710711e-01 8.52255101e-03 4.80942508e-01 -9.63970827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-72.57, Z:-9.67 [[ 4.07114987e-01 5.60831923e-01 7.20919511e-01 1.45659821e+02] [-2.60410296e-01 8.27801478e-01 -4.96921715e-01 -7.25654297e+01] [-8.75467798e-01 1.45694145e-02 4.83056795e-01 -9.67020479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:-72.58, Z:-9.70 [[ 4.05791692e-01 5.56402618e-01 7.25085671e-01 1.45667398e+02] [-2.60313528e-01 8.30842010e-01 -4.91872363e-01 -7.25821559e+01] [-8.76110706e-01 1.08481091e-02 4.81987913e-01 -9.69636792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:-72.59, Z:-9.72 [[ 4.05778140e-01 5.56536628e-01 7.24990402e-01 1.45680223e+02] [-2.60494129e-01 8.30753431e-01 -4.91926362e-01 -7.25908613e+01] [-8.76063302e-01 1.07572213e-02 4.82076106e-01 -9.72496382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-72.62, Z:-9.75 [[ 4.08503532e-01 5.35152255e-01 7.39416614e-01 1.45691551e+02] [-2.62568251e-01 8.44747731e-01 -4.66325193e-01 -7.26231287e+01] [-8.74175485e-01 -3.65183879e-03 4.85596423e-01 -9.74701115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-72.61, Z:-9.78 [[ 4.07989472e-01 5.63394492e-01 7.18422743e-01 1.45707008e+02] [-2.62568116e-01 8.26055000e-01 -4.98689404e-01 -7.26107163e+01] [-8.74415562e-01 1.48251204e-02 4.84951174e-01 -9.78064872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-72.62, Z:-9.81 [[ 4.07663314e-01 5.66764627e-01 7.15952848e-01 1.45718480e+02] [-2.62191846e-01 8.23699305e-01 -5.02767234e-01 -7.26180384e+01] [-8.74680547e-01 1.72427580e-02 4.84393052e-01 -9.80936241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:-72.63, Z:-9.84 [[ 4.06233704e-01 5.61698146e-01 7.20742236e-01 1.45727622e+02] [-2.60628852e-01 8.27217470e-01 -4.97778925e-01 -7.26337918e+01] [-8.75812069e-01 1.43683546e-02 4.82438360e-01 -9.83556184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-72.64, Z:-9.86 [[ 4.06128883e-01 5.64767504e-01 7.18398912e-01 1.45739522e+02] [-2.61355973e-01 8.25101235e-01 -5.00900197e-01 -7.26425636e+01] [-8.75643983e-01 1.56721908e-02 4.82702804e-01 -9.86487150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:-72.65, Z:-9.89 [[ 4.05446726e-01 5.65859702e-01 7.17924613e-01 1.45751178e+02] [-2.60684850e-01 8.24334647e-01 -5.02509500e-01 -7.26515198e+01] [-8.76160009e-01 1.65887612e-02 4.81734835e-01 -9.89379333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:-72.66, Z:-9.92 [[ 4.03483630e-01 5.69247766e-01 7.16350432e-01 1.45759700e+02] [-2.58992933e-01 8.21942995e-01 -5.07279383e-01 -7.26577242e+01] [-8.77566875e-01 1.91492272e-02 4.79071692e-01 -9.92305022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-72.68, Z:-9.95 [[ 4.03092733e-01 5.60345732e-01 7.23552976e-01 1.45769798e+02] [-2.60383605e-01 8.28176769e-01 -4.96310002e-01 -7.26771317e+01] [-8.77334957e-01 1.16576228e-02 4.79736879e-01 -9.94979280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:-72.68, Z:-9.98 [[ 4.02849252e-01 5.69821411e-01 7.16251380e-01 1.45781104e+02] [-2.59779869e-01 8.21563090e-01 -5.07492374e-01 -7.26763477e+01] [-8.77625717e-01 1.83752337e-02 4.78994208e-01 -9.98045437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:-72.70, Z:-10.01 [[ 4.00663921e-01 5.59386092e-01 7.25641524e-01 1.45789870e+02] [-2.60394813e-01 8.28853423e-01 -4.95173248e-01 -7.26964159e+01] [-8.78443489e-01 9.44476607e-03 4.77752899e-01 -1.00062061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:-72.70, Z:-10.04 [[ 3.99064767e-01 5.63397104e-01 7.23416212e-01 1.45801046e+02] [-2.60907374e-01 8.26118619e-01 -4.99455073e-01 -7.27027525e+01] [-8.79019143e-01 1.05702983e-02 4.76669292e-01 -1.00372800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:-72.72, Z:-10.06 [[ 3.96529619e-01 5.56155621e-01 7.30380166e-01 1.45810262e+02] [-2.61194079e-01 8.31068861e-01 -4.91021590e-01 -7.27180617e+01] [-8.80080629e-01 3.93362947e-03 4.74807974e-01 -1.00623213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:-72.72, Z:-10.10 [[ 3.98048184e-01 5.62739212e-01 7.24487559e-01 1.45822794e+02] [-2.61220205e-01 8.26583461e-01 -4.98521600e-01 -7.27214204e+01] [-8.79387086e-01 9.18482942e-03 4.76018898e-01 -1.00957929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-72.74, Z:-10.12 [[ 3.95478207e-01 5.57596325e-01 7.29851578e-01 1.45832080e+02] [-2.64134457e-01 8.30111016e-01 -4.91068926e-01 -7.27376492e+01] [-8.79676064e-01 1.42810800e-03 4.75571218e-01 -1.01208335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-72.74, Z:-10.15 [[ 3.96756256e-01 5.66082277e-01 7.22589323e-01 1.45845387e+02] [-2.66573956e-01 8.24330241e-01 -4.99417640e-01 -7.27409307e+01] [-8.78363706e-01 5.52357856e-03 4.77960972e-01 -1.01523918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-72.75, Z:-10.18 [[ 3.92191304e-01 5.67510335e-01 7.23959944e-01 1.45853814e+02] [-2.66277495e-01 8.23357582e-01 -5.01177203e-01 -7.27482763e+01] [-8.80501151e-01 3.78310061e-03 4.74028914e-01 -1.01819801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-72.78, Z:-10.21 [[ 3.92005324e-01 5.45940696e-01 7.40459711e-01 1.45864475e+02] [-2.69335516e-01 8.37719750e-01 -4.75062102e-01 -7.27800707e+01] [-8.79653458e-01 -1.32052247e-02 4.75431820e-01 -1.02054158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:-72.78, Z:-10.24 [[ 3.92704493e-01 5.59077896e-01 7.30215781e-01 1.45879007e+02] [-2.70954412e-01 8.29094869e-01 -4.89065849e-01 -7.27802845e+01] [-8.78844064e-01 -5.79683134e-03 4.77073902e-01 -1.02364102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-72.80, Z:-10.26 [[ 3.92148981e-01 5.58275007e-01 7.31128028e-01 1.45894469e+02] [-2.75884061e-01 8.29578631e-01 -4.85476344e-01 -7.27994520e+01] [-8.77557497e-01 -1.13275161e-02 4.79337591e-01 -1.02594793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:-72.80, Z:-10.29 [[ 3.94079679e-01 5.67379649e-01 7.23036334e-01 1.45907251e+02] [-2.76541803e-01 8.23442894e-01 -4.95445689e-01 -7.28014949e+01] [-8.76484933e-01 -4.70469352e-03 4.81406303e-01 -1.02898929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97361786499997 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:145.92, Y:-72.81, Z:-10.32 [[ 3.92755927e-01 5.64001170e-01 7.26392086e-01 1.45917141e+02] [-2.74786891e-01 8.25751143e-01 -4.92572039e-01 -7.28130008e+01] [-8.77630302e-01 -6.14243459e-03 4.79298784e-01 -1.03185018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00361786499997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:145.93, Y:-72.81, Z:-10.36 [[ 3.93235851e-01 5.78091927e-01 7.14965236e-01 1.45925590e+02] [-2.69877193e-01 8.15931374e-01 -5.11294723e-01 -7.28061114e+01] [-8.78937919e-01 8.10660480e-03 4.76867295e-01 -1.03566595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-72.84, Z:-10.37 [[ 3.95353955e-01 5.55471084e-01 7.31537508e-01 1.45939041e+02] [-2.74272393e-01 8.31480057e-01 -4.83131007e-01 -7.28424930e+01] [-8.76624153e-01 -9.63278911e-03 4.81079312e-01 -1.03694474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:-72.85, Z:-10.40 [[ 3.97356492e-01 5.61771192e-01 7.25617630e-01 1.45952419e+02] [-2.72823323e-01 8.27287807e-01 -4.91082802e-01 -7.28465812e+01] [-8.76170789e-01 -2.83047393e-03 4.81992465e-01 -1.04025457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-72.86, Z:-10.43 [[ 3.98312732e-01 5.60437688e-01 7.26124346e-01 1.45965079e+02] [-2.70747961e-01 8.28195803e-01 -4.90700778e-01 -7.28570739e+01] [-8.76380345e-01 -1.14431851e-03 4.81618294e-01 -1.04319230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12361786499997 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:145.98, Y:-72.86, Z:-10.46 [[ 4.01520663e-01 5.73628752e-01 7.13954629e-01 1.45976376e+02] [-2.69650056e-01 8.19043970e-01 -5.06414675e-01 -7.28562540e+01] [-8.75254252e-01 1.08180506e-02 4.83542103e-01 -1.04642851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15361786499997 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:145.98, Y:-72.85, Z:-10.50 [[ 3.98269730e-01 5.79795961e-01 7.10786794e-01 1.45980677e+02] [-2.64122196e-01 8.14563879e-01 -5.16454406e-01 -7.28523135e+01] [-8.78419426e-01 1.79535879e-02 4.77553118e-01 -1.04975769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-72.90, Z:-10.52 [[ 4.09560964e-01 5.45427804e-01 7.31278557e-01 1.46002132e+02] [-2.65828489e-01 8.38157544e-01 -4.76263735e-01 -7.29002046e+01] [-8.72694122e-01 6.64360940e-04 4.88266861e-01 -1.05159891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:-72.90, Z:-10.54 [[ 4.04921705e-01 5.58068579e-01 7.24291290e-01 1.46011713e+02] [-2.61813371e-01 8.29734878e-01 -4.92944003e-01 -7.29006724e+01] [-8.76066305e-01 9.97458177e-03 4.82087478e-01 -1.05420408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.02, Y:-72.91, Z:-10.57 [[ 4.07045659e-01 5.63608330e-01 7.18790290e-01 1.46023796e+02] [-2.61473690e-01 8.25898901e-01 -4.99522287e-01 -7.29060719e+01] [-8.75183033e-01 1.53836290e-02 4.83547313e-01 -1.05725079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:146.03, Y:-72.93, Z:-10.60 [[ 4.06626015e-01 5.54443223e-01 7.26118445e-01 1.46032994e+02] [-2.58915826e-01 8.32143344e-01 -4.90408045e-01 -7.29251204e+01] [-8.76138048e-01 1.14091122e-02 4.81925257e-01 -1.05978953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-72.93, Z:-10.63 [[ 4.07671748e-01 5.59679476e-01 7.21500263e-01 1.46045045e+02] [-2.58539051e-01 8.28556034e-01 -4.96641177e-01 -7.29308122e+01] [-8.75763270e-01 1.59305837e-02 4.82477887e-01 -1.06285354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:-72.94, Z:-10.66 [[ 4.07166739e-01 5.57025942e-01 7.23835165e-01 1.46056261e+02] [-2.57991001e-01 8.30371083e-01 -4.93887141e-01 -7.29433558e+01] [-8.76159740e-01 1.43514577e-02 4.81807167e-01 -1.06556523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.07, Y:-72.95, Z:-10.68 [[ 4.04588856e-01 5.58717243e-01 7.23977141e-01 1.46069325e+02] [-2.59048661e-01 8.29259322e-01 -4.95199725e-01 -7.29522084e+01] [-8.77041418e-01 1.28069811e-02 4.80244034e-01 -1.06842041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-72.96, Z:-10.71 [[ 4.02477921e-01 5.60104419e-01 7.24081876e-01 1.46081842e+02] [-2.60670159e-01 8.28351231e-01 -4.95868234e-01 -7.29594435e+01] [-8.77532103e-01 1.08294784e-02 4.79395589e-01 -1.07122555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-73.11, Z:-10.70 [[ 4.23491200e-01 4.35584784e-01 7.94305420e-01 1.46130861e+02] [-2.83942424e-01 8.96454319e-01 -3.40215157e-01 -7.31100155e+01] [-8.60251070e-01 -8.14588815e-02 5.03321515e-01 -1.06970799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.90, Y:-72.37, Z:-10.77 [[ 3.51667348e-01 6.87005932e-01 -6.35887510e-01 1.46895503e+02] [-2.35054933e-01 -5.92711309e-01 -7.70352181e-01 -7.23650628e+01] [-9.06134237e-01 4.20376205e-01 -4.69530806e-02 -1.07657343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-73.03, Z:-10.91 [[ 3.49752143e-01 5.51064281e-01 7.57628930e-01 1.46170351e+02] [-2.26736274e-01 8.34453734e-01 -5.02272463e-01 -7.30257566e+01] [-9.08990704e-01 3.88890961e-03 4.16798244e-01 -1.09105355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:-73.15, Z:-10.91 [[ 3.67652622e-01 4.55016453e-01 8.11043511e-01 1.46213006e+02] [-2.47777492e-01 8.88527461e-01 -3.86167406e-01 -7.31453060e+01] [-8.96346955e-01 -5.89828673e-02 4.39412286e-01 -1.09126623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-72.42, Z:-10.95 [[ 2.99698539e-01 6.73572163e-01 -6.75634019e-01 1.47009676e+02] [-1.89625555e-01 -6.51999720e-01 -7.34124318e-01 -7.24219264e+01] [-9.34998895e-01 3.48133462e-01 -6.76768685e-02 -1.09538267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.24, Y:-73.09, Z:-11.10 [[ 3.04096725e-01 5.26265259e-01 7.94084416e-01 1.46242202e+02] [-1.86019063e-01 8.50318125e-01 -4.92296653e-01 -7.30902284e+01] [-9.34302997e-01 1.99096078e-03 3.56474327e-01 -1.11016863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.27, Y:-73.16, Z:-11.12 [[ 3.15360520e-01 4.66636123e-01 8.26316205e-01 1.46270784e+02] [-1.97743853e-01 8.83948016e-01 -4.23713669e-01 -7.31616352e+01] [-9.28140674e-01 -2.97763872e-02 3.71036731e-01 -1.11186272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-73.12, Z:-11.16 [[ 3.15711963e-01 5.37709183e-01 7.81789480e-01 1.46285108e+02] [-2.00912174e-01 8.43130286e-01 -4.98764092e-01 -7.31168240e+01] [-9.27340420e-01 3.94766131e-04 3.74218638e-01 -1.11624358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:-73.09, Z:-11.20 [[ 3.16049355e-01 5.80878966e-01 7.50128277e-01 1.46295738e+02] [-2.02136691e-01 8.13729055e-01 -5.44964021e-01 -7.30865104e+01] [-9.26959311e-01 2.06070797e-02 3.74595495e-01 -1.12002247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:-73.09, Z:-11.23 [[ 3.13309819e-01 5.75126127e-01 7.55689682e-01 1.46301522e+02] [-1.95589806e-01 8.17774643e-01 -5.41284824e-01 -7.30923924e+01] [-9.29290905e-01 2.17846519e-02 3.68705633e-01 -1.12285888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.31, Y:-73.09, Z:-11.26 [[ 3.15951987e-01 5.79532823e-01 7.51209724e-01 1.46309097e+02] [-1.92765127e-01 8.14464311e-01 -5.47256331e-01 -7.30925984e+01] [-9.28986517e-01 2.80996871e-02 3.69045335e-01 -1.12589032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.30, Y:-73.05, Z:-11.30 [[ 3.08847753e-01 6.12723543e-01 7.27449603e-01 1.46304763e+02] [-1.77871266e-01 7.88556982e-01 -5.88676226e-01 -7.30466371e+01] [-9.34331247e-01 5.24189478e-02 3.52529964e-01 -1.12955962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:-73.19, Z:-11.30 [[ 3.19430398e-01 4.67813351e-01 8.24084274e-01 1.46327472e+02] [-1.87042701e-01 8.83662606e-01 -4.29133344e-01 -7.31942126e+01] [-9.28966764e-01 -1.70607136e-02 3.69769770e-01 -1.12998140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:146.34, Y:-73.13, Z:-11.35 [[ 3.19045620e-01 5.50571887e-01 7.71414603e-01 1.46335960e+02] [-1.87314533e-01 8.34528204e-01 -5.18146642e-01 -7.31348734e+01] [-9.29044218e-01 2.08152502e-02 3.69382684e-01 -1.13452291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.34, Y:-73.12, Z:-11.38 [[ 3.21453877e-01 5.71812002e-01 7.54783704e-01 1.46344654e+02] [-1.87301359e-01 8.19736126e-01 -5.41249374e-01 -7.31220287e+01] [-9.28216357e-01 3.26146958e-02 3.70608521e-01 -1.13765864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.35, Y:-73.13, Z:-11.40 [[ 3.20272611e-01 5.62079457e-01 7.62556319e-01 1.46351356e+02] [-1.85216013e-01 8.26575371e-01 -5.31477360e-01 -7.31341664e+01] [-9.29042778e-01 2.89800007e-02 3.68835568e-01 -1.14047003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.36, Y:-73.15, Z:-11.43 [[ 3.21128101e-01 5.49513488e-01 7.71305173e-01 1.46359605e+02] [-1.83620244e-01 8.35114143e-01 -5.18524806e-01 -7.31503151e+01] [-9.29064233e-01 2.48856423e-02 3.69080419e-01 -1.14334187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.36, Y:-73.10, Z:-11.47 [[ 3.15865244e-01 6.01518048e-01 7.33760987e-01 1.46361259e+02] [-1.76412019e-01 7.97101232e-01 -5.77501883e-01 -7.30957173e+01] [-9.32259592e-01 5.29685166e-02 3.57891588e-01 -1.14719690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.37, Y:-73.19, Z:-11.49 [[ 3.11004972e-01 5.00350588e-01 8.08037868e-01 1.46366167e+02] [-1.71940843e-01 8.65792814e-01 -4.69935261e-01 -7.31873968e+01] [-9.34725764e-01 7.21749051e-03 3.55296572e-01 -1.14871623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-73.19, Z:-11.52 [[ 3.13326944e-01 5.21256284e-01 7.93799794e-01 1.46380662e+02] [-1.81821395e-01 8.53355226e-01 -4.88595783e-01 -7.31869809e+01] [-9.32076825e-01 8.76043760e-03 3.62154729e-01 -1.15194218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.39, Y:-73.18, Z:-11.55 [[ 3.15791575e-01 5.36965828e-01 7.82268101e-01 1.46393349e+02] [-1.87904369e-01 8.43520048e-01 -5.03155918e-01 -7.31837789e+01] [-9.30036359e-01 1.19008059e-02 3.67274749e-01 -1.15505194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:146.40, Y:-73.15, Z:-11.58 [[ 3.08260160e-01 5.67390686e-01 7.63572841e-01 1.46395438e+02] [-1.82431104e-01 8.23021604e-01 -5.37916658e-01 -7.31515889e+01] [-9.33645846e-01 2.65188387e-02 3.57214480e-01 -1.15841916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:146.40, Y:-73.20, Z:-11.61 [[ 3.06940904e-01 5.31230597e-01 7.89671662e-01 1.46402594e+02] [-1.87873963e-01 8.47217033e-01 -4.96917169e-01 -7.31951421e+01] [-9.33000887e-01 4.16546084e-03 3.59849960e-01 -1.16101466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:146.41, Y:-73.18, Z:-11.64 [[ 3.05235240e-01 5.52029679e-01 7.75947603e-01 1.46413291e+02] [-1.87660814e-01 8.33724703e-01 -5.19313527e-01 -7.31786734e+01] [-9.33603164e-01 1.28978299e-02 3.58076499e-01 -1.16413334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:146.42, Y:-73.20, Z:-11.67 [[ 3.04060634e-01 5.34385292e-01 7.88656764e-01 1.46422042e+02] [-1.88873031e-01 8.45235522e-01 -4.99903882e-01 -7.32003976e+01] [-9.33741993e-01 3.04509799e-03 3.57933818e-01 -1.16688341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-73.23, Z:-11.70 [[ 3.06622163e-01 5.15517772e-01 8.00140160e-01 1.46436076e+02] [-1.95139250e-01 8.56822835e-01 -4.77258109e-01 -7.32338970e+01] [-9.31613397e-01 -9.80083738e-03 3.63318623e-01 -1.16976125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.44, Y:-73.17, Z:-11.74 [[ 3.02876695e-01 5.84864340e-01 7.52462232e-01 1.46442987e+02] [-1.90514461e-01 8.10767448e-01 -5.53498316e-01 -7.31735543e+01] [-9.33793311e-01 2.42868043e-02 3.56987679e-01 -1.17357576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.45, Y:-73.25, Z:-11.76 [[ 3.06605279e-01 5.15372825e-01 8.00239998e-01 1.46454700e+02] [-1.94609590e-01 8.56914641e-01 -4.77309548e-01 -7.32478735e+01] [-9.31729741e-01 -9.38875109e-03 3.63031047e-01 -1.17573438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.46, Y:-73.21, Z:-11.80 [[ 3.05879340e-01 5.62833134e-01 7.67891068e-01 1.46464885e+02] [-1.95041394e-01 8.26486867e-01 -5.28089305e-01 -7.32148663e+01] [-9.31878042e-01 1.17610637e-02 3.62581016e-01 -1.17953539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.47, Y:-73.21, Z:-11.83 [[ 3.04623665e-01 5.70933391e-01 7.62390639e-01 1.46471678e+02] [-1.92093031e-01 8.20811634e-01 -5.37929856e-01 -7.32119610e+01] [-9.32901222e-01 1.74162358e-02 3.59710973e-01 -1.18275473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.48, Y:-73.23, Z:-11.86 [[ 3.04910941e-01 5.61920278e-01 7.68944029e-01 1.46480381e+02] [-1.91028104e-01 8.27067776e-01 -5.28646534e-01 -7.32256861e+01] [-9.33026035e-01 1.43001919e-02 3.59524579e-01 -1.18564612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.49, Y:-73.23, Z:-11.89 [[ 3.04733095e-01 5.61411350e-01 7.69386143e-01 1.46487773e+02] [-1.88102230e-01 8.27371422e-01 -5.29220257e-01 -7.32310430e+01] [-9.33678367e-01 1.65476771e-02 3.57730181e-01 -1.18872839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-73.24, Z:-11.92 [[ 3.05626679e-01 5.56966851e-01 7.72256603e-01 1.46496444e+02] [-1.88048396e-01 8.30397939e-01 -5.24477896e-01 -7.32407045e+01] [-9.33397093e-01 1.50728223e-02 3.58528488e-01 -1.19155638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.50, Y:-73.24, Z:-11.95 [[ 3.04657305e-01 5.61463835e-01 7.69377858e-01 1.46504638e+02] [-1.86893919e-01 8.27314166e-01 -5.29737608e-01 -7.32430746e+01] [-9.33945710e-01 1.75963890e-02 3.56981481e-01 -1.19482349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:-73.25, Z:-11.98 [[ 3.05578222e-01 5.56509300e-01 7.72605558e-01 1.46514455e+02] [-1.85588044e-01 8.30667028e-01 -5.24927963e-01 -7.32517551e+01] [-9.33905256e-01 1.70201993e-02 3.57115226e-01 -1.19763478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-73.25, Z:-12.00 [[ 3.03670438e-01 5.63901563e-01 7.67983914e-01 1.46523621e+02] [-1.82498467e-01 8.25548758e-01 -5.34007077e-01 -7.32469714e+01] [-9.35135592e-01 2.20062760e-02 3.53605923e-01 -1.20048381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.53, Y:-73.29, Z:-12.03 [[ 3.03584643e-01 5.21164831e-01 7.97636248e-01 1.46531353e+02] [-1.81918247e-01 8.53450178e-01 -4.88393842e-01 -7.32904632e+01] [-9.35276492e-01 3.16428192e-03 3.53903760e-01 -1.20307447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53361786499997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:146.54, Y:-73.26, Z:-12.07 [[ 3.04355517e-01 5.64035046e-01 7.67614608e-01 1.46541394e+02] [-1.83389344e-01 8.25465623e-01 -5.33830360e-01 -7.32624961e+01] [-9.34738502e-01 2.17018757e-02 3.54673034e-01 -1.20721317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.55, Y:-73.27, Z:-12.10 [[ 3.05745846e-01 5.59365161e-01 7.70473942e-01 1.46553357e+02] [-1.81872698e-01 8.28636237e-01 -5.29418840e-01 -7.32712465e+01] [-9.34581082e-01 2.17394362e-02 3.55085338e-01 -1.20955841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:-73.30, Z:-12.12 [[ 3.05774069e-01 5.35929939e-01 7.86944292e-01 1.46562246e+02] [-1.81485800e-01 8.44185332e-01 -5.04394715e-01 -7.32971321e+01] [-9.34647058e-01 1.14116096e-02 3.55393658e-01 -1.21228988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:146.57, Y:-73.30, Z:-12.15 [[ 3.07832589e-01 5.36038863e-01 7.86067068e-01 1.46570606e+02] [-1.81159718e-01 8.44093995e-01 -5.04664724e-01 -7.33020922e+01] [-9.34034396e-01 1.29485607e-02 3.56948289e-01 -1.21541092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.58, Y:-73.32, Z:-12.18 [[ 3.08830804e-01 5.24160554e-01 7.93649323e-01 1.46582032e+02] [-1.81322041e-01 8.51581920e-01 -4.91864363e-01 -7.33180841e+01] [-9.33673311e-01 7.99675157e-03 3.58036590e-01 -1.21841302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.59, Y:-73.29, Z:-12.22 [[ 3.06660600e-01 5.62954091e-01 7.67490696e-01 1.46591871e+02] [-1.79405697e-01 8.26074732e-01 -5.34241643e-01 -7.32878694e+01] [-9.34758189e-01 2.61386595e-02 3.54321744e-01 -1.22188696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:-73.33, Z:-12.24 [[ 3.08589106e-01 5.22136294e-01 7.95076383e-01 1.46601664e+02] [-1.79981949e-01 8.52822905e-01 -4.90203622e-01 -7.33293661e+01] [-9.34012453e-01 8.17210039e-03 3.57146965e-01 -1.22439674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.61, Y:-73.30, Z:-12.28 [[ 3.06105651e-01 5.61569424e-01 7.68725642e-01 1.46611647e+02] [-1.77474771e-01 8.26993310e-01 -5.33464872e-01 -7.32988787e+01] [-9.35308525e-01 2.68672046e-02 3.52811730e-01 -1.22787504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:-73.33, Z:-12.30 [[ 3.06144826e-01 5.35679886e-01 7.86970397e-01 1.46620859e+02] [-1.76727588e-01 8.44273121e-01 -5.05935032e-01 -7.33264893e+01] [-9.35437173e-01 1.58100126e-02 3.53139262e-01 -1.23047238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:-73.33, Z:-12.34 [[ 3.06162765e-01 5.36090288e-01 7.86683904e-01 1.46630869e+02] [-1.76326896e-01 8.44001986e-01 -5.06526873e-01 -7.33317658e+01] [-9.35506914e-01 1.63661374e-02 3.52929118e-01 -1.23359681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:146.64, Y:-73.34, Z:-12.37 [[ 3.06306396e-01 5.36513616e-01 7.86339323e-01 1.46641410e+02] [-1.75961290e-01 8.43721033e-01 -5.07121725e-01 -7.33364901e+01] [-9.35528736e-01 1.69693462e-02 3.52842777e-01 -1.23664452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.65, Y:-73.36, Z:-12.40 [[ 3.08481378e-01 5.22783464e-01 7.94692827e-01 1.46653409e+02] [-1.77993464e-01 8.52404290e-01 -4.91655624e-01 -7.33568867e+01] [-9.34429006e-01 1.02164755e-02 3.56002889e-01 -1.23955031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:-73.32, Z:-12.43 [[ 3.05836805e-01 5.64674171e-01 7.66555236e-01 1.46662668e+02] [-1.76733012e-01 8.24811903e-01 -5.37076128e-01 -7.33238977e+01] [-9.35536900e-01 2.87820309e-02 3.52054404e-01 -1.24305888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:146.67, Y:-73.35, Z:-12.46 [[ 3.04674569e-01 5.38489322e-01 7.85622464e-01 1.46671159e+02] [-1.77397376e-01 8.42487708e-01 -5.08669474e-01 -7.33501368e+01] [-9.35790349e-01 1.56112892e-02 3.52211172e-01 -1.24563499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-73.36, Z:-12.49 [[ 3.04427311e-01 5.39218255e-01 7.85218241e-01 1.46681413e+02] [-1.78113299e-01 8.42029787e-01 -5.09177269e-01 -7.33556434e+01] [-9.35734826e-01 1.51496554e-02 3.52378806e-01 -1.24872721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.69, Y:-73.36, Z:-12.52 [[ 3.04232694e-01 5.39979500e-01 7.84770417e-01 1.46691517e+02] [-1.78806914e-01 8.41548848e-01 -5.09728971e-01 -7.33609188e+01] [-9.35665836e-01 1.47538419e-02 3.52578741e-01 -1.25179368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.70, Y:-73.36, Z:-12.55 [[ 3.05380007e-01 5.40537709e-01 7.83940072e-01 1.46702163e+02] [-1.79602450e-01 8.41186761e-01 -5.10046854e-01 -7.33649885e+01] [-9.35139568e-01 1.49605544e-02 3.53963516e-01 -1.25486483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-73.37, Z:-12.58 [[ 3.04730837e-01 5.41217235e-01 7.83723817e-01 1.46711168e+02] [-1.79569951e-01 8.40750503e-01 -5.10777079e-01 -7.33693104e+01] [-9.35357552e-01 1.49162791e-02 3.53388957e-01 -1.25785564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.72, Y:-73.37, Z:-12.61 [[ 3.03919679e-01 5.41936860e-01 7.83541491e-01 1.46721462e+02] [-1.79753586e-01 8.40292375e-01 -5.11465906e-01 -7.33742507e+01] [-9.35586168e-01 1.46001614e-02 3.52796482e-01 -1.26088873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10361786499996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:146.73, Y:-73.38, Z:-12.64 [[ 3.04959760e-01 5.41809097e-01 7.83225668e-01 1.46731296e+02] [-1.78586439e-01 8.40345421e-01 -5.11787512e-01 -7.33781604e+01] [-9.35471234e-01 1.62011140e-02 3.53031295e-01 -1.26405689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-73.38, Z:-12.67 [[ 3.03936952e-01 5.42565721e-01 7.83099462e-01 1.46742431e+02] [-1.78674246e-01 8.39863575e-01 -5.12547256e-01 -7.33847103e+01] [-9.35787285e-01 1.58623446e-02 3.52208096e-01 -1.26711435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:-73.39, Z:-12.70 [[ 3.03662582e-01 5.42650266e-01 7.83147320e-01 1.46750328e+02] [-1.76598567e-01 8.39774303e-01 -5.13412179e-01 -7.33878869e+01] [-9.36270251e-01 1.76013734e-02 3.50839292e-01 -1.27027878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:-73.40, Z:-12.73 [[ 3.03886301e-01 5.43396868e-01 7.82542625e-01 1.46763073e+02] [-1.77397929e-01 8.39296601e-01 -5.13917494e-01 -7.33956326e+01] [-9.36046522e-01 1.73510454e-02 3.51448219e-01 -1.27315368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:-73.40, Z:-12.76 [[ 3.04261862e-01 5.43543279e-01 7.82294972e-01 1.46771792e+02] [-1.76783172e-01 8.39184042e-01 -5.14312993e-01 -7.33997126e+01] [-9.36040827e-01 1.81892420e-02 3.51421004e-01 -1.27634835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:-73.41, Z:-12.79 [[ 3.04061691e-01 5.44406213e-01 7.81772578e-01 1.46782883e+02] [-1.77745256e-01 8.38637125e-01 -5.14873186e-01 -7.34057972e+01] [-9.35923668e-01 1.75968447e-02 3.51763043e-01 -1.27923348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.79, Y:-73.41, Z:-12.82 [[ 3.03642191e-01 5.44935669e-01 7.81566719e-01 1.46792492e+02] [-1.77367522e-01 8.38286222e-01 -5.15574410e-01 -7.34102699e+01] [-9.36131498e-01 1.79255914e-02 3.51192954e-01 -1.28226614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:-73.41, Z:-12.85 [[ 3.03973583e-01 5.45398835e-01 7.81114699e-01 1.46803151e+02] [-1.77460408e-01 8.37978027e-01 -5.16043244e-01 -7.34145083e+01] [-9.36006338e-01 1.82465807e-02 3.51509883e-01 -1.28535196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:-73.42, Z:-12.89 [[ 3.04693900e-01 5.45934151e-01 7.80459820e-01 1.46812288e+02] [-1.77884572e-01 8.37623051e-01 -5.16473333e-01 -7.34196886e+01] [-9.35691566e-01 1.85345130e-02 3.52331897e-01 -1.28850867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:-73.43, Z:-12.91 [[ 3.06681807e-01 5.46613871e-01 7.79204431e-01 1.46824436e+02] [-1.79750033e-01 8.37183674e-01 -5.16539855e-01 -7.34270124e+01] [-9.34685078e-01 1.83513541e-02 3.55002863e-01 -1.29148914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:-73.43, Z:-12.95 [[ 3.04398278e-01 5.47033897e-01 7.79804850e-01 1.46833519e+02] [-1.77358865e-01 8.36887345e-01 -5.17844962e-01 -7.34309508e+01] [-9.35887558e-01 1.93258117e-02 3.51768378e-01 -1.29458425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.85, Y:-73.44, Z:-12.98 [[ 3.08978426e-01 5.47426146e-01 7.77725496e-01 1.46846051e+02] [-1.80900916e-01 8.36636965e-01 -5.17023643e-01 -7.34401991e+01] [-9.33706159e-01 1.90578969e-02 3.57532664e-01 -1.29756809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:-73.44, Z:-13.01 [[ 3.03964864e-01 5.47709479e-01 7.79499639e-01 1.46853910e+02] [-1.75904687e-01 8.36413167e-01 -5.19105534e-01 -7.34409501e+01] [-9.36302784e-01 2.06722029e-02 3.50584879e-01 -1.30072341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:-73.45, Z:-13.04 [[ 3.09619271e-01 5.48651070e-01 7.76606664e-01 1.46865955e+02] [-1.81811837e-01 8.35831206e-01 -5.18006419e-01 -7.34487983e+01] [-9.33316861e-01 1.91884857e-02 3.58540708e-01 -1.30367284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-73.45, Z:-13.07 [[ 3.05704331e-01 5.48251481e-01 7.78437650e-01 1.46875398e+02] [-1.74894955e-01 8.36001177e-01 -5.20109399e-01 -7.34492802e+01] [-9.35925540e-01 2.28548780e-02 3.51455599e-01 -1.30690751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-73.45, Z:-13.10 [[ 3.03403069e-01 5.49252923e-01 7.78632008e-01 1.46884720e+02] [-1.74856827e-01 8.35367412e-01 -5.21139499e-01 -7.34548631e+01] [-9.36681199e-01 2.19662014e-02 3.49493660e-01 -1.30990669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-73.46, Z:-13.13 [[ 3.05580534e-01 5.49312529e-01 7.77737926e-01 1.46896418e+02] [-1.74541160e-01 8.35284338e-01 -5.21378421e-01 -7.34583462e+01] [-9.36032008e-01 2.35758162e-02 3.51124280e-01 -1.31302675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-73.47, Z:-13.16 [[ 3.06039367e-01 5.50289691e-01 7.76866245e-01 1.46907742e+02] [-1.76473555e-01 8.34668746e-01 -5.21713685e-01 -7.34651289e+01] [-9.35519636e-01 2.25685781e-02 3.52553073e-01 -1.31608849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-73.48, Z:-13.18 [[ 3.03024308e-01 5.37729336e-01 7.86780421e-01 1.46913827e+02] [-1.76881702e-01 8.42988051e-01 -5.08019695e-01 -7.34785302e+01] [-9.36423586e-01 1.47752562e-02 3.50560351e-01 -1.31840442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:-73.49, Z:-13.22 [[ 3.04134211e-01 5.32671863e-01 7.89786723e-01 1.46928013e+02] [-1.80298055e-01 8.46261886e-01 -5.01331659e-01 -7.34911173e+01] [-9.35411670e-01 1.00750987e-02 3.53416892e-01 -1.32165573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:-73.48, Z:-13.25 [[ 2.99694125e-01 5.54639438e-01 7.76246434e-01 1.46935945e+02] [-1.78764063e-01 8.31880948e-01 -5.25373675e-01 -7.34762885e+01] [-9.37137579e-01 1.86864378e-02 3.48459432e-01 -1.32514025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:-73.48, Z:-13.28 [[ 3.04916419e-01 5.55614998e-01 7.73510149e-01 1.46950757e+02] [-1.84469203e-01 8.31261700e-01 -5.24380682e-01 -7.34835043e+01] [-9.34343133e-01 1.72034795e-02 3.55959197e-01 -1.32803066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:-73.49, Z:-13.31 [[ 3.01004508e-01 5.56766645e-01 7.74213917e-01 1.46959946e+02] [-1.83912973e-01 8.30517409e-01 -5.25753604e-01 -7.34859285e+01] [-9.35720206e-01 1.58662218e-02 3.52386093e-01 -1.33122847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:-73.49, Z:-13.34 [[ 3.00599954e-01 5.58082526e-01 7.73423275e-01 1.46972233e+02] [-1.86572066e-01 8.29669639e-01 -5.26155066e-01 -7.34916116e+01] [-9.35323758e-01 1.38630106e-02 3.53521265e-01 -1.33423551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:-73.51, Z:-13.37 [[ 2.99126370e-01 5.37270446e-01 7.88583466e-01 1.46980775e+02] [-1.84840235e-01 8.43394317e-01 -5.04499865e-01 -7.35133304e+01] [-9.36139681e-01 5.14725975e-03 3.51590676e-01 -1.33700099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:-73.51, Z:-13.40 [[ 2.99564606e-01 5.54390493e-01 7.76474229e-01 1.46992887e+02] [-1.86910149e-01 8.32180534e-01 -5.22053786e-01 -7.35071675e+01] [-9.35588394e-01 1.12579222e-02 3.52913043e-01 -1.34023518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:-73.48, Z:-13.44 [[ 2.95775109e-01 5.88692689e-01 7.52301803e-01 1.47001119e+02] [-1.83413678e-01 8.07883082e-01 -5.60075307e-01 -7.34796402e+01] [-9.37484137e-01 2.76738942e-02 3.46925997e-01 -1.34387243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:-73.53, Z:-13.47 [[ 3.08031749e-01 5.44740999e-01 7.79983132e-01 1.47017205e+02] [-1.89811107e-01 8.38553238e-01 -5.10686020e-01 -7.35277430e+01] [-9.32248993e-01 9.25804547e-03 3.61698912e-01 -1.34659766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-73.47, Z:-13.50 [[ 2.95811336e-01 6.16589844e-01 7.29597573e-01 1.47025013e+02] [-1.83023300e-01 7.86212922e-01 -5.90230220e-01 -7.34661151e+01] [-9.37548999e-01 4.10634343e-02 3.45421003e-01 -1.35024586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-73.51, Z:-13.53 [[ 2.97967493e-01 5.69707594e-01 7.65929913e-01 1.47027954e+02] [-1.83825713e-01 8.21604384e-01 -5.39605730e-01 -7.35099993e+01] [-9.36708856e-01 1.99873542e-02 3.49538303e-01 -1.35269909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:-73.52, Z:-13.56 [[ 2.98463186e-01 5.57588484e-01 7.74606228e-01 1.47038262e+02] [-1.81345520e-01 8.29943782e-01 -5.27548217e-01 -7.35223200e+01] [-9.37034433e-01 1.69823522e-02 3.48823838e-01 -1.35551070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:-73.53, Z:-13.58 [[ 2.98363063e-01 5.60360518e-01 7.72641943e-01 1.47048392e+02] [-1.82177798e-01 8.28065263e-01 -5.30206724e-01 -7.35268125e+01] [-9.36904869e-01 1.74358943e-02 3.49149333e-01 -1.35849924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-73.53, Z:-13.62 [[ 2.96996251e-01 5.61438421e-01 7.72385996e-01 1.47056813e+02] [-1.83347095e-01 8.27362651e-01 -5.30900071e-01 -7.35335957e+01] [-9.37111023e-01 1.60606021e-02 3.48661709e-01 -1.36155949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:-73.54, Z:-13.64 [[ 2.97541335e-01 5.57806025e-01 7.74804229e-01 1.47066076e+02] [-1.81108548e-01 8.29802635e-01 -5.27851571e-01 -7.35375385e+01] [-9.37373377e-01 1.67339923e-02 3.47924023e-01 -1.36433268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:-73.55, Z:-13.67 [[ 2.97585038e-01 5.47815136e-01 7.81883445e-01 1.47074937e+02] [-1.80972234e-01 8.36507299e-01 -5.17208458e-01 -7.35508242e+01] [-9.37385831e-01 1.24143049e-02 3.48071386e-01 -1.36723269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:-73.56, Z:-13.70 [[ 2.97284782e-01 5.45864180e-01 7.83360744e-01 1.47084180e+02] [-1.81189946e-01 8.37799144e-01 -5.15036696e-01 -7.35591355e+01] [-9.37439044e-01 1.11754805e-02 3.47970037e-01 -1.37033340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-73.56, Z:-13.73 [[ 2.97701500e-01 5.52037260e-01 7.78863711e-01 1.47092546e+02] [-1.81552548e-01 8.33704401e-01 -5.21512841e-01 -7.35581972e+01] [-9.37236624e-01 1.38504633e-02 3.48418822e-01 -1.37337016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-73.58, Z:-13.76 [[ 2.98321894e-01 5.35160868e-01 7.90320753e-01 1.47101765e+02] [-1.81553857e-01 8.44723519e-01 -5.03468344e-01 -7.35787770e+01] [-9.37039084e-01 6.70984879e-03 3.49160040e-01 -1.37624320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:-73.57, Z:-13.79 [[ 2.99287967e-01 5.58019289e-01 7.73977510e-01 1.47112579e+02] [-1.82584829e-01 8.29662391e-01 -5.27563359e-01 -7.35652843e+01] [-9.36530562e-01 1.65768135e-02 3.50193827e-01 -1.37944139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:-73.59, Z:-13.82 [[ 2.98071671e-01 5.35695551e-01 7.90052881e-01 1.47120035e+02] [-1.80946118e-01 8.44379214e-01 -5.04264063e-01 -7.35888551e+01] [-9.37236246e-01 7.34982994e-03 3.48617554e-01 -1.38232351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:-73.58, Z:-13.86 [[ 2.99437695e-01 5.51341578e-01 7.78690909e-01 1.47133783e+02] [-1.82406278e-01 8.34165262e-01 -5.20476960e-01 -7.35846883e+01] [-9.36517494e-01 1.38123107e-02 3.50348688e-01 -1.38582557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:-73.58, Z:-13.89 [[ 2.99247431e-01 5.68140993e-01 7.66594278e-01 1.47145157e+02] [-1.84644812e-01 8.22703897e-01 -5.37647274e-01 -7.35803478e+01] [-9.36139556e-01 1.93419091e-02 3.51096314e-01 -1.38896305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:-73.59, Z:-13.92 [[ 3.00952810e-01 5.68331172e-01 7.65785274e-01 1.47156176e+02] [-1.84424842e-01 8.22540111e-01 -5.37973274e-01 -7.35850853e+01] [-9.35636085e-01 2.06747403e-02 3.52360144e-01 -1.39204161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:-73.59, Z:-13.95 [[ 3.01295841e-01 5.67696359e-01 7.66121178e-01 1.47163272e+02] [-1.84320878e-01 8.22978093e-01 -5.37338694e-01 -7.35893666e+01] [-9.35546167e-01 2.06857856e-02 3.52598168e-01 -1.39480048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:-73.60, Z:-13.98 [[ 3.00268408e-01 5.60129397e-01 7.72071202e-01 1.47172854e+02] [-1.84916965e-01 8.28249367e-01 -5.28969472e-01 -7.36041377e+01] [-9.35758836e-01 1.60637581e-02 3.52274547e-01 -1.39787712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-73.60, Z:-14.01 [[ 3.00103834e-01 5.71238644e-01 7.63952944e-01 1.47184044e+02] [-1.87667388e-01 8.20572267e-01 -5.39853782e-01 -7.36013877e+01] [-9.35263942e-01 1.86431365e-02 3.53459747e-01 -1.40098520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:-73.61, Z:-14.04 [[ 2.97810485e-01 5.71872146e-01 7.64376323e-01 1.47193424e+02] [-1.86987830e-01 8.20142852e-01 -5.40741392e-01 -7.36080061e+01] [-9.36132719e-01 1.81093858e-02 3.51180272e-01 -1.40406279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-73.61, Z:-14.07 [[ 2.99375173e-01 5.72760220e-01 7.63099100e-01 1.47204399e+02] [-1.89642080e-01 8.19543237e-01 -5.40726145e-01 -7.36145771e+01] [-9.35099132e-01 1.71642824e-02 3.53970338e-01 -1.40713219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:-73.62, Z:-14.10 [[ 2.99900293e-01 5.73983262e-01 7.61973116e-01 1.47214707e+02] [-1.92793475e-01 8.18724114e-01 -5.40852569e-01 -7.36213075e+01] [-9.34286086e-01 1.52983988e-02 3.56195829e-01 -1.41023840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:-73.63, Z:-14.13 [[ 2.97858551e-01 5.74598502e-01 7.62310203e-01 1.47222080e+02] [-1.91382504e-01 8.18287693e-01 -5.42012905e-01 -7.36250559e+01] [-9.35228860e-01 1.55503431e-02 3.53702086e-01 -1.41346948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-73.63, Z:-14.16 [[ 2.95426879e-01 5.74204515e-01 7.63552312e-01 1.47230395e+02] [-1.92717899e-01 8.18613553e-01 -5.41046821e-01 -7.36330297e+01] [-9.35725799e-01 1.26895766e-02 3.52499935e-01 -1.41620379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:-73.65, Z:-14.19 [[ 2.97333818e-01 5.66857001e-01 7.68287538e-01 1.47240440e+02] [-1.94979142e-01 8.23772544e-01 -5.32336295e-01 -7.36485059e+01] [-9.34652735e-01 8.48153833e-03 3.55460728e-01 -1.41922209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:-73.65, Z:-14.22 [[ 2.96773787e-01 5.77865094e-01 7.60261306e-01 1.47250802e+02] [-1.95686203e-01 8.16034511e-01 -5.43870010e-01 -7.36470158e+01] [-9.34682957e-01 1.26337138e-02 3.55257878e-01 -1.42230611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:-73.65, Z:-14.25 [[ 2.95372262e-01 5.78745128e-01 7.60137688e-01 1.47258491e+02] [-1.96023527e-01 8.15422021e-01 -5.44666599e-01 -7.36514366e+01] [-9.35056150e-01 1.18745346e-02 3.54300708e-01 -1.42537487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-73.66, Z:-14.28 [[ 2.93044384e-01 5.80490722e-01 7.59707517e-01 1.47267939e+02] [-1.94019947e-01 8.14163508e-01 -5.47260488e-01 -7.36569962e+01] [-9.36205773e-01 1.29732002e-02 3.51212823e-01 -1.42836951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-73.66, Z:-14.31 [[ 2.91468238e-01 5.76123472e-01 7.63628189e-01 1.47273658e+02] [-1.92277683e-01 8.17281765e-01 -5.43212490e-01 -7.36634289e+01] [-9.37056860e-01 1.15005286e-02 3.48987362e-01 -1.43124444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-73.67, Z:-14.34 [[ 2.90479087e-01 5.71398351e-01 7.67545324e-01 1.47281079e+02] [-1.90733993e-01 8.20610823e-01 -5.38719242e-01 -7.36728946e+01] [-9.37679286e-01 1.00896888e-02 3.47355371e-01 -1.43439953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-73.69, Z:-14.37 [[ 2.92977418e-01 5.69447467e-01 7.68045451e-01 1.47293848e+02] [-1.95184485e-01 8.21999343e-01 -5.34995418e-01 -7.36866274e+01] [-9.35984642e-01 6.83101979e-03 3.51974555e-01 -1.43730396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:-73.67, Z:-14.40 [[ 2.88470499e-01 5.85029606e-01 7.57974360e-01 1.47298814e+02] [-1.91531032e-01 8.10885125e-01 -5.52974844e-01 -7.36739143e+01] [-9.38136789e-01 1.43413180e-02 3.45967761e-01 -1.44044255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-73.71, Z:-14.43 [[ 2.89676121e-01 5.59843992e-01 7.76313371e-01 1.47308616e+02] [-1.96495132e-01 8.28597752e-01 -5.24228412e-01 -7.37091964e+01] [-9.36737641e-01 -6.85345228e-04 3.50031602e-01 -1.44310283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:-73.70, Z:-14.46 [[ 2.89456561e-01 5.83506294e-01 7.58772234e-01 1.47320219e+02] [-1.97894711e-01 8.12061447e-01 -5.48993525e-01 -7.36976618e+01] [-9.36510856e-01 8.75276569e-03 3.50529323e-01 -1.44641569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-73.69, Z:-14.50 [[ 2.91073589e-01 5.95886671e-01 7.48461917e-01 1.47326940e+02] [-1.99236427e-01 8.02939467e-01 -5.61776698e-01 -7.36891834e+01] [-9.35724859e-01 1.43974814e-02 3.52436804e-01 -1.44954909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-73.72, Z:-14.52 [[ 2.86906718e-01 5.71487161e-01 7.68821800e-01 1.47331912e+02] [-1.96184339e-01 8.20604879e-01 -5.36767490e-01 -7.37151230e+01] [-9.37654649e-01 3.17140231e-03 3.47553884e-01 -1.45236778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-73.73, Z:-14.55 [[ 2.88554417e-01 5.71030056e-01 7.68544744e-01 1.47343248e+02] [-2.01824745e-01 8.20928577e-01 -5.34175105e-01 -7.37295384e+01] [-9.35950384e-01 -9.72761147e-04 3.52130563e-01 -1.45503284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:-73.74, Z:-14.58 [[ 2.91170322e-01 5.74969466e-01 7.64610984e-01 1.47353694e+02] [-2.04353182e-01 8.18174834e-01 -5.37428802e-01 -7.37367910e+01] [-9.34590617e-01 2.32629789e-04 3.55725069e-01 -1.45820839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:-73.73, Z:-14.61 [[ 2.90881879e-01 5.87309700e-01 7.55284747e-01 1.47364088e+02] [-2.03019742e-01 8.09332180e-01 -5.51148262e-01 -7.37333765e+01] [-9.34970971e-01 6.98132770e-03 3.54655529e-01 -1.46149856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.37, Y:-73.75, Z:-14.64 [[ 2.87268527e-01 5.74768945e-01 7.66235899e-01 1.47371844e+02] [-2.00540823e-01 8.18315039e-01 -5.38650048e-01 -7.37522877e+01] [-9.36621680e-01 1.07562791e-03 3.50340794e-01 -1.46434207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:-73.73, Z:-14.68 [[ 2.89156715e-01 6.10591192e-01 7.37269822e-01 1.47381526e+02] [-1.99415866e-01 7.91694600e-01 -5.77453871e-01 -7.37285371e+01] [-9.36280784e-01 1.99513643e-02 3.50685381e-01 -1.46791506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:-73.76, Z:-14.71 [[ 2.89615585e-01 5.86090016e-01 7.56717454e-01 1.47386933e+02] [-1.98617950e-01 8.10191157e-01 -5.51489981e-01 -7.37562087e+01] [-9.36308562e-01 9.42242374e-03 3.51051983e-01 -1.47056847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:-73.77, Z:-14.74 [[ 2.88138308e-01 5.86652722e-01 7.56845360e-01 1.47396618e+02] [-1.97632317e-01 8.09781674e-01 -5.52444666e-01 -7.37650530e+01] [-9.36972669e-01 9.60336934e-03 3.49270658e-01 -1.47354336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:-73.77, Z:-14.77 [[ 2.89376530e-01 5.86560570e-01 7.56444262e-01 1.47403455e+02] [-1.95906761e-01 8.09818903e-01 -5.53004418e-01 -7.37711649e+01] [-9.36953449e-01 1.18339544e-02 3.49253765e-01 -1.47675151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:-73.78, Z:-14.80 [[ 2.90408147e-01 5.87119805e-01 7.55614613e-01 1.47413377e+02] [-1.96750945e-01 8.09410873e-01 -5.53302001e-01 -7.37799717e+01] [-9.36457246e-01 1.20155195e-02 3.50575888e-01 -1.47981379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:-73.79, Z:-14.83 [[ 2.88877624e-01 5.88078831e-01 7.55455497e-01 1.47422187e+02] [-1.97162601e-01 8.08726958e-01 -5.54154867e-01 -7.37879758e+01] [-9.36843972e-01 1.11353703e-02 3.49570274e-01 -1.48279033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-73.80, Z:-14.86 [[ 2.91173595e-01 5.87848316e-01 7.54753135e-01 1.47429396e+02] [-1.96359186e-01 8.08863840e-01 -5.54240343e-01 -7.37957529e+01] [-9.36301772e-01 1.31774420e-02 3.50949209e-01 -1.48588734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:-73.80, Z:-14.89 [[ 2.91509665e-01 5.88440056e-01 7.54162062e-01 1.47438173e+02] [-1.96572217e-01 8.08428433e-01 -5.54799813e-01 -7.38032842e+01] [-9.36152487e-01 1.34821991e-02 3.51335668e-01 -1.48895722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-73.81, Z:-14.92 [[ 2.93176592e-01 5.89134094e-01 7.52973111e-01 1.47447302e+02] [-1.98320029e-01 8.07924873e-01 -5.54911313e-01 -7.38135184e+01] [-9.35262879e-01 1.33573586e-02 3.53701751e-01 -1.49198765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-73.82, Z:-14.95 [[ 2.92666068e-01 5.89738970e-01 7.52698160e-01 1.47455093e+02] [-1.97946197e-01 8.07478747e-01 -5.55693599e-01 -7.38199236e+01] [-9.35501938e-01 1.36389229e-02 3.53058216e-01 -1.49514834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-73.83, Z:-14.98 [[ 2.93356678e-01 5.90348257e-01 7.51951325e-01 1.47464028e+02] [-1.98566911e-01 8.07030153e-01 -5.56123649e-01 -7.38276389e+01] [-9.35154020e-01 1.38299343e-02 3.53971315e-01 -1.49807987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:-73.83, Z:-15.01 [[ 2.93288759e-01 5.90745613e-01 7.51665700e-01 1.47471594e+02] [-1.97832889e-01 8.06725642e-01 -5.56826621e-01 -7.38338244e+01] [-9.35330878e-01 1.46067915e-02 3.53472473e-01 -1.50111001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:-73.86, Z:-15.04 [[ 2.95866738e-01 5.75965764e-01 7.62054009e-01 1.47479926e+02] [-2.01860050e-01 8.17453371e-01 -5.39465019e-01 -7.38593370e+01] [-9.33657000e-01 5.78149503e-03 3.58121740e-01 -1.50369776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-73.84, Z:-15.07 [[ 2.93819873e-01 6.06835061e-01 7.38526297e-01 1.47489611e+02] [-2.00058617e-01 7.94558362e-01 -5.73283141e-01 -7.38398673e+01] [-9.34690554e-01 2.06934304e-02 3.54859620e-01 -1.50731691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-73.86, Z:-15.10 [[ 2.91660698e-01 5.92217365e-01 7.51140886e-01 1.47495774e+02] [-1.97908704e-01 8.05653272e-01 -5.58350204e-01 -7.38578133e+01] [-9.35823799e-01 1.41914905e-02 3.52182367e-01 -1.51015133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-73.88, Z:-15.13 [[ 2.93605742e-01 5.76863183e-01 7.62249655e-01 1.47504107e+02] [-2.01362290e-01 8.16824005e-01 -5.40603157e-01 -7.38831640e+01] [-9.34477874e-01 5.23585500e-03 3.55982710e-01 -1.51297448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.52, Y:-73.87, Z:-15.16 [[ 2.93466517e-01 6.04950446e-01 7.40211025e-01 1.47515730e+02] [-2.03248901e-01 7.96085055e-01 -5.70033744e-01 -7.38686881e+01] [-9.34113102e-01 1.68387398e-02 3.56579821e-01 -1.51634114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-73.85, Z:-15.20 [[ 2.89245839e-01 6.26391446e-01 7.23858136e-01 1.47523194e+02] [-2.00105345e-01 7.79040324e-01 -5.94183494e-01 -7.38541646e+01] [-9.36106135e-01 2.70172211e-02 3.50678448e-01 -1.51953201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-73.91, Z:-15.22 [[ 2.92044133e-01 5.76020432e-01 7.63485879e-01 1.47529421e+02] [-2.04113824e-01 8.17433973e-01 -5.38645752e-01 -7.39111170e+01] [-9.34370254e-01 1.47030907e-03 3.56300529e-01 -1.52180189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:-73.87, Z:-15.26 [[ 2.88547671e-01 6.28938248e-01 7.21925842e-01 1.47539661e+02] [-2.01074874e-01 7.76987358e-01 -5.96539638e-01 -7.38683992e+01] [-9.36113848e-01 2.69689760e-02 3.50661572e-01 -1.52553810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-73.92, Z:-15.28 [[ 2.91537579e-01 5.78546122e-01 7.61767829e-01 1.47545548e+02] [-2.04513643e-01 8.15647250e-01 -5.41196576e-01 -7.39245403e+01] [-9.34441014e-01 1.98722556e-03 3.56112400e-01 -1.52781728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:-73.91, Z:-15.31 [[ 2.93240693e-01 6.12705760e-01 7.33894780e-01 1.47555660e+02] [-2.08040787e-01 7.90141258e-01 -5.76537790e-01 -7.39059456e+01] [-9.33128569e-01 1.63842931e-02 3.59169358e-01 -1.53120072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:-73.92, Z:-15.34 [[ 2.91066296e-01 5.99481405e-01 7.45588664e-01 1.47561722e+02] [-2.05305634e-01 8.00314538e-01 -5.63334924e-01 -7.39235931e+01] [-9.34414259e-01 1.08942561e-02 3.56021499e-01 -1.53412300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.57, Y:-73.93, Z:-15.37 [[ 2.91103920e-01 6.05571401e-01 7.40636069e-01 1.47570178e+02] [-2.07094453e-01 7.95695720e-01 -5.69192594e-01 -7.39290768e+01] [-9.34007706e-01 1.23125734e-02 3.57040621e-01 -1.53718447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:-73.96, Z:-15.40 [[ 2.93181476e-01 5.86861634e-01 7.54743695e-01 1.47582259e+02] [-2.13152974e-01 8.09687037e-01 -5.46783971e-01 -7.39622527e+01] [-9.31992721e-01 -5.68931379e-04 3.62476543e-01 -1.53984239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:-73.92, Z:-15.44 [[ 2.90902069e-01 6.36954371e-01 7.13908338e-01 1.47591612e+02] [-2.10336767e-01 7.70499730e-01 -6.01737992e-01 -7.39214210e+01] [-9.33345826e-01 2.48856549e-02 3.58114888e-01 -1.54371565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:147.60, Y:-73.95, Z:-15.46 [[ 2.90873443e-01 6.16864448e-01 7.31348681e-01 1.47596476e+02] [-2.09964775e-01 7.86922306e-01 -5.80231056e-01 -7.39484511e+01] [-9.33438500e-01 1.52163440e-02 3.58414605e-01 -1.54637327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:147.61, Y:-73.98, Z:-15.49 [[ 2.93744024e-01 5.95356160e-01 7.47840552e-01 1.47608893e+02] [-2.15582194e-01 8.03459908e-01 -5.54956299e-01 -7.39846600e+01] [-9.31256552e-01 1.79398909e-03 3.64359734e-01 -1.54896062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.62, Y:-73.94, Z:-15.53 [[ 2.91658948e-01 6.52393921e-01 6.99512137e-01 1.47615646e+02] [-2.12084091e-01 7.57211539e-01 -6.17779105e-01 -7.39353972e+01] [-9.32713995e-01 3.18254082e-02 3.59209893e-01 -1.55286554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-73.99, Z:-15.55 [[ 2.91979772e-01 6.04963982e-01 7.40787684e-01 1.47618874e+02] [-2.09152305e-01 7.96179078e-01 -5.67762440e-01 -7.39851732e+01] [-9.33275482e-01 1.08376962e-02 3.58997798e-01 -1.55522046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-73.95, Z:-15.59 [[ 2.87670550e-01 6.39912639e-01 7.12571027e-01 1.47624634e+02] [-2.03188693e-01 7.67862462e-01 -6.07537319e-01 -7.39531345e+01] [-9.35927353e-01 2.99842194e-02 3.50914429e-01 -1.55868392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:147.64, Y:-74.07, Z:-15.60 [[ 2.96649818e-01 5.33342827e-01 7.92176946e-01 1.47641236e+02] [-2.14015940e-01 8.45546106e-01 -4.89130822e-01 -7.40722179e+01] [-9.30696547e-01 -2.44379248e-02 3.64974965e-01 -1.55970119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:147.65, Y:-74.00, Z:-15.65 [[ 2.94134931e-01 6.28509937e-01 7.20041597e-01 1.47653202e+02] [-2.16314916e-01 7.77595632e-01 -5.90383681e-01 -7.40014610e+01] [-9.30963211e-01 1.78967257e-02 3.64674111e-01 -1.56472220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.66, Y:-73.95, Z:-15.69 [[ 2.92429531e-01 6.83344664e-01 6.68973123e-01 1.47659487e+02] [-2.09836768e-01 7.28356325e-01 -6.52277237e-01 -7.39470148e+01] [-9.32980975e-01 5.03699684e-02 3.56383735e-01 -1.56875063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:147.66, Y:-74.00, Z:-15.71 [[ 2.89437534e-01 6.25435733e-01 7.24607520e-01 1.47658640e+02] [-2.04891189e-01 7.79945546e-01 -5.91358221e-01 -7.40035399e+01] [-9.35010970e-01 2.26955694e-02 3.53891786e-01 -1.57062647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.67, Y:-74.02, Z:-15.74 [[ 2.87676013e-01 6.15315395e-01 7.33913807e-01 1.47666108e+02] [-2.04387798e-01 7.88097047e-01 -5.80627826e-01 -7.40192572e+01] [-9.35664544e-01 1.70296712e-02 3.52479575e-01 -1.57352886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:147.68, Y:-74.02, Z:-15.77 [[ 2.86793415e-01 6.18415456e-01 7.31650094e-01 1.47675300e+02] [-2.04685902e-01 7.85652447e-01 -5.83826956e-01 -7.40233374e+01] [-9.35870300e-01 1.76792669e-02 3.51900874e-01 -1.57654373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22361786499997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:147.68, Y:-74.03, Z:-15.80 [[ 2.85095636e-01 6.18888293e-01 7.31913765e-01 1.47683578e+02] [-2.06646933e-01 7.85333394e-01 -5.83565340e-01 -7.40313375e+01] [-9.35958078e-01 1.51241969e-02 3.51786491e-01 -1.57963408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.69, Y:-74.03, Z:-15.83 [[ 2.83274137e-01 6.25646819e-01 7.26857497e-01 1.47690922e+02] [-2.06419999e-01 7.79913706e-01 -5.90868340e-01 -7.40299880e+01] [-9.36561022e-01 1.73397950e-02 3.50075397e-01 -1.58276217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-74.04, Z:-15.86 [[ 2.81281345e-01 6.16382399e-01 7.35495441e-01 1.47697595e+02] [-2.08394298e-01 7.87384513e-01 -5.80170186e-01 -7.40444205e+01] [-9.36724411e-01 9.91799427e-03 3.49927152e-01 -1.58554531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31361786499997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:147.71, Y:-74.04, Z:-15.89 [[ 2.81205257e-01 6.20669721e-01 7.31910309e-01 1.47705610e+02] [-2.09065730e-01 7.83989975e-01 -5.84509402e-01 -7.40449863e+01] [-9.36597632e-01 1.13497538e-02 3.50222870e-01 -1.58864040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:147.72, Y:-74.07, Z:-15.91 [[ 2.82355465e-01 6.01232549e-01 7.47525794e-01 1.47715198e+02] [-2.12445860e-01 7.99074103e-01 -5.62447628e-01 -7.40722963e+01] [-9.35490325e-01 1.40186054e-06 3.53352306e-01 -1.59135976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:147.72, Y:-74.06, Z:-15.95 [[ 2.80520218e-01 6.23451087e-01 7.29806241e-01 1.47724673e+02] [-2.12209571e-01 7.81803443e-01 -5.86302374e-01 -7.40570580e+01] [-9.36095885e-01 9.59780058e-03 3.51613960e-01 -1.59475439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.73, Y:-74.07, Z:-15.98 [[ 2.79884117e-01 6.12879845e-01 7.38947344e-01 1.47732598e+02] [-2.10960332e-01 7.90159196e-01 -5.75451286e-01 -7.40723362e+01] [-9.36568534e-01 5.17109820e-03 3.50446344e-01 -1.59755145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43361786499997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:147.74, Y:-74.08, Z:-16.00 [[ 2.80589062e-01 6.10941253e-01 7.40284110e-01 1.47742421e+02] [-2.11822163e-01 7.91665903e-01 -5.73058871e-01 -7.40824490e+01] [-9.36162993e-01 3.98546952e-03 3.51543691e-01 -1.60048603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:147.75, Y:-74.06, Z:-16.04 [[ 2.77355047e-01 6.34094741e-01 7.21801938e-01 1.47748759e+02] [-2.05305933e-01 7.73039195e-01 -6.00216525e-01 -7.40610473e+01] [-9.38575331e-01 1.82828624e-02 3.44589735e-01 -1.60384458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49361786499998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:147.76, Y:-74.12, Z:-16.06 [[ 2.80793941e-01 5.80488431e-01 7.64321885e-01 1.47759420e+02] [-2.08762476e-01 8.14234365e-01 -5.41701603e-01 -7.41223044e+01] [-9.36788659e-01 -7.45520106e-03 3.49816278e-01 -1.60603000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:147.77, Y:-74.07, Z:-16.10 [[ 2.77377533e-01 6.34549135e-01 7.21393859e-01 1.47766260e+02] [-2.03470825e-01 7.72623045e-01 -6.01376133e-01 -7.40740361e+01] [-9.38968225e-01 2.00256240e-02 3.43420510e-01 -1.60990379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55361786499998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:147.78, Y:-74.14, Z:-16.12 [[ 2.82490719e-01 5.74973284e-01 7.67857224e-01 1.47778118e+02] [-2.08447479e-01 8.18126318e-01 -5.35928145e-01 -7.41417584e+01] [-9.36348569e-01 -8.66317527e-03 3.50964824e-01 -1.61187719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:147.78, Y:-74.08, Z:-16.16 [[ 2.78604111e-01 6.40781736e-01 7.15386970e-01 1.47784566e+02] [-2.01736408e-01 7.67307012e-01 -6.08721916e-01 -7.40806362e+01] [-9.38979324e-01 2.52728311e-02 3.43043893e-01 -1.61604363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61361786499998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:147.79, Y:-74.14, Z:-16.18 [[ 2.82154732e-01 5.83398715e-01 7.61600056e-01 1.47792479e+02] [-2.03717040e-01 8.12185399e-01 -5.46675631e-01 -7.41407926e+01] [-9.37490306e-01 -9.03793220e-04 3.48010214e-01 -1.61806542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499995 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:147.80, Y:-74.11, Z:-16.22 [[ 2.81067134e-01 6.23493386e-01 7.29559637e-01 1.47799483e+02] [-2.00053966e-01 7.81569619e-01 -5.90869987e-01 -7.41076815e+01] [-9.38605176e-01 2.01228348e-02 3.44405857e-01 -1.62179139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67361786499995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:147.81, Y:-74.13, Z:-16.25 [[ 2.82411277e-01 5.99142135e-01 7.49181268e-01 1.47805879e+02] [-1.97839981e-01 8.00559672e-01 -5.65653210e-01 -7.41332772e+01] [-9.38670982e-01 1.15288378e-02 3.44621347e-01 -1.62456021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:147.81, Y:-74.14, Z:-16.28 [[ 2.82613602e-01 5.99922363e-01 7.48480267e-01 1.47814713e+02] [-1.98874331e-01 7.99980707e-01 -5.66109414e-01 -7.41412321e+01] [-9.38391471e-01 1.11367088e-02 3.45394588e-01 -1.62757578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:147.82, Y:-74.15, Z:-16.31 [[ 2.84359616e-01 5.99998959e-01 7.47757219e-01 1.47823696e+02] [-1.98165041e-01 7.99896708e-01 -5.66476720e-01 -7.41492860e+01] [-9.38013979e-01 1.29037623e-02 3.46357139e-01 -1.63069155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.83, Y:-74.16, Z:-16.34 [[ 2.84506897e-01 6.00466783e-01 7.47325543e-01 1.47832441e+02] [-1.97816428e-01 7.99535517e-01 -5.67108118e-01 -7.41558788e+01] [-9.38042902e-01 1.35129017e-02 3.46255563e-01 -1.63383983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79361786499996 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:147.84, Y:-74.16, Z:-16.37 [[ 2.84760707e-01 6.01008438e-01 7.46793276e-01 1.47840918e+02] [-1.97913106e-01 7.99122736e-01 -5.67655930e-01 -7.41618839e+01] [-9.37945490e-01 1.38459273e-02 3.46506202e-01 -1.63691450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82361786499996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:147.85, Y:-74.17, Z:-16.40 [[ 2.84540894e-01 6.01519294e-01 7.46465684e-01 1.47849175e+02] [-1.97440445e-01 7.98729502e-01 -5.68373516e-01 -7.41673922e+01] [-9.38111801e-01 1.43429918e-02 3.46035444e-01 -1.63992312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:147.86, Y:-74.17, Z:-16.43 [[ 2.84183674e-01 6.02051303e-01 7.46172814e-01 1.47858060e+02] [-1.97132889e-01 7.98323554e-01 -5.69050198e-01 -7.41735879e+01] [-9.38284746e-01 1.46195735e-02 3.45554633e-01 -1.64304386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.87, Y:-74.18, Z:-16.46 [[ 2.83759206e-01 6.02642459e-01 7.45857077e-01 1.47866560e+02] [-1.96876222e-01 7.97873399e-01 -5.69769946e-01 -7.41797295e+01] [-9.38467083e-01 1.48359444e-02 3.45049892e-01 -1.64613196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:147.87, Y:-74.19, Z:-16.49 [[ 2.83234999e-01 6.03119867e-01 7.45670411e-01 1.47874747e+02] [-1.96009259e-01 7.97500871e-01 -5.70589809e-01 -7.41855850e+01] [-9.38806852e-01 1.54526990e-02 3.44097237e-01 -1.64912622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:-74.19, Z:-16.52 [[ 2.83588117e-01 6.03271811e-01 7.45413242e-01 1.47882707e+02] [-1.94560966e-01 7.97354825e-01 -5.71289169e-01 -7.41922000e+01] [-9.39001497e-01 1.69824993e-02 3.43493499e-01 -1.65220924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-74.20, Z:-16.55 [[ 2.83783368e-01 6.03610375e-01 7.45064773e-01 1.47891196e+02] [-1.93706540e-01 7.97076433e-01 -5.71967601e-01 -7.41990300e+01] [-9.39119149e-01 1.79909722e-02 3.43120312e-01 -1.65528166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:-74.21, Z:-16.58 [[ 2.83552953e-01 6.03956514e-01 7.44871971e-01 1.47899265e+02] [-1.92488918e-01 7.96789980e-01 -5.72777221e-01 -7.42055209e+01] [-9.39439056e-01 1.90330727e-02 3.42187087e-01 -1.65834150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:-74.21, Z:-16.61 [[ 2.83774010e-01 6.04182213e-01 7.44604704e-01 1.47907867e+02] [-1.91286624e-01 7.96587563e-01 -5.73461142e-01 -7.42125269e+01] [-9.39617869e-01 2.03004479e-02 3.41622823e-01 -1.66147927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-74.22, Z:-16.65 [[ 2.83446368e-01 6.04805463e-01 7.44223427e-01 1.47916275e+02] [-1.91307607e-01 7.96113085e-01 -5.74112667e-01 -7.42185785e+01] [-9.39712486e-01 2.03545479e-02 3.41359248e-01 -1.66460142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-74.22, Z:-16.68 [[ 2.82462636e-01 6.05668764e-01 7.43895294e-01 1.47924721e+02] [-1.91822389e-01 7.95473688e-01 -5.74826741e-01 -7.42240801e+01] [-9.39903735e-01 1.96713041e-02 3.40872424e-01 -1.66778283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.93, Y:-74.23, Z:-16.71 [[ 2.81998900e-01 6.06489441e-01 7.43402433e-01 1.47933417e+02] [-1.92583210e-01 7.94862083e-01 -5.75418089e-01 -7.42301353e+01] [-9.39887402e-01 1.91004413e-02 3.40949916e-01 -1.67090491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:-74.24, Z:-16.74 [[ 2.81842875e-01 6.07304083e-01 7.42796301e-01 1.47942082e+02] [-1.93597396e-01 7.94253707e-01 -5.75917613e-01 -7.42362833e+01] [-9.39725833e-01 1.85148461e-02 3.41427238e-01 -1.67405089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:-74.24, Z:-16.77 [[ 2.81463927e-01 6.08136883e-01 7.42258438e-01 1.47950605e+02] [-1.94525787e-01 7.93631130e-01 -5.76462789e-01 -7.42418704e+01] [-9.39647687e-01 1.78650735e-02 3.41676841e-01 -1.67718903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:147.96, Y:-74.25, Z:-16.80 [[ 2.81321791e-01 6.08701663e-01 7.41849267e-01 1.47959194e+02] [-1.94390722e-01 7.93191663e-01 -5.77112842e-01 -7.42476977e+01] [-9.39718201e-01 1.81458034e-02 3.41468055e-01 -1.68034173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.97, Y:-74.25, Z:-16.83 [[ 2.81591164e-01 6.09262475e-01 7.41286485e-01 1.47968296e+02] [-1.94585806e-01 7.92754734e-01 -5.77647207e-01 -7.42540480e+01] [-9.39597137e-01 1.84165216e-02 3.41786558e-01 -1.68345457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.98, Y:-74.26, Z:-16.86 [[ 2.81310844e-01 6.09788869e-01 7.40960015e-01 1.47977050e+02] [-1.94155746e-01 7.92340007e-01 -5.78360494e-01 -7.42597519e+01] [-9.39770055e-01 1.88374341e-02 3.41287849e-01 -1.68647488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:-74.27, Z:-16.90 [[ 2.81045108e-01 6.10336658e-01 7.40609756e-01 1.47985865e+02] [-1.94020106e-01 7.91913543e-01 -5.78989757e-01 -7.42660507e+01] [-9.39877569e-01 1.90290558e-02 3.40981010e-01 -1.68958309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:-74.27, Z:-16.93 [[ 2.80355327e-01 6.10971841e-01 7.40347419e-01 1.47994562e+02] [-1.93759251e-01 7.91422213e-01 -5.79748422e-01 -7.42718515e+01] [-9.40137353e-01 1.90863972e-02 3.40260879e-01 -1.69254894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:148.00, Y:-74.27, Z:-16.96 [[ 2.79950136e-01 6.18245480e-01 7.34438866e-01 1.48000906e+02] [-1.94790271e-01 7.85696143e-01 -5.87144208e-01 -7.42732053e+01] [-9.40045037e-01 2.13095555e-02 3.40383947e-01 -1.69625366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:-74.27, Z:-16.99 [[ 2.79597555e-01 6.31087638e-01 7.23570038e-01 1.48013327e+02] [-1.94432260e-01 7.75229016e-01 -6.01012536e-01 -7.42676737e+01] [-9.40224071e-01 2.73562778e-02 3.39455934e-01 -1.69865319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:-74.29, Z:-17.01 [[ 2.78986663e-01 6.12163141e-01 7.39880214e-01 1.48020202e+02] [-1.94696697e-01 7.90527898e-01 -5.80653803e-01 -7.42908467e+01] [-9.40350806e-01 1.79424329e-02 3.39732881e-01 -1.70144012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.03, Y:-74.30, Z:-17.04 [[ 2.78392789e-01 6.12976861e-01 7.39430067e-01 1.48028821e+02] [-1.95409951e-01 7.89910893e-01 -5.81253587e-01 -7.42958644e+01] [-9.40378863e-01 1.73248139e-02 3.39687275e-01 -1.70447819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:-74.30, Z:-17.08 [[ 2.78308471e-01 6.13635866e-01 7.38915028e-01 1.48037825e+02] [-1.96019103e-01 7.89404815e-01 -5.81735807e-01 -7.43019343e+01] [-9.40277037e-01 1.70605419e-02 3.39982399e-01 -1.70761962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-74.31, Z:-17.11 [[ 2.77981709e-01 6.14266575e-01 7.38513875e-01 1.48046659e+02] [-1.96041885e-01 7.88912944e-01 -5.82395008e-01 -7.43078907e+01] [-9.40368943e-01 1.71155074e-02 3.39725346e-01 -1.71078530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:-74.31, Z:-17.14 [[ 2.77879867e-01 6.14922035e-01 7.38006551e-01 1.48055097e+02] [-1.96374048e-01 7.88403111e-01 -5.82973214e-01 -7.43141160e+01] [-9.40329736e-01 1.70711858e-02 3.39836081e-01 -1.71378886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57361786499996 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:148.07, Y:-74.31, Z:-17.17 [[ 2.82029910e-01 6.31080129e-01 7.22631995e-01 1.48067291e+02] [-1.99102541e-01 7.75309368e-01 -5.99377646e-01 -7.43063037e+01] [-9.38518677e-01 2.51645574e-02 3.44310089e-01 -1.71690393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60361786499996 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:149.30, Y:-74.52, Z:-16.79 [[ 2.96966276e-01 -7.66142527e-01 -5.69944435e-01 1.49295087e+02] [-1.56015167e-01 -6.27779364e-01 7.62595789e-01 -7.45219612e+01] [-9.42056420e-01 -1.37545256e-01 -3.05959154e-01 -1.67870850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-74.03, Z:-16.87 [[ 3.25771771e-01 -1.49594987e-01 -9.33538480e-01 1.49289318e+02] [-9.52884401e-02 -9.87570179e-01 1.25001022e-01 -7.40288411e+01] [-9.40634289e-01 4.82336213e-02 -3.35977159e-01 -1.68719912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-74.10, Z:-16.87 [[ 3.43273474e-01 -2.12153482e-01 -9.14961323e-01 1.49308429e+02] [-1.87065106e-02 -9.75506467e-01 2.19173903e-01 -7.41000544e+01] [-9.39049194e-01 -5.81208533e-02 -3.38834145e-01 -1.68650421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-73.99, Z:-16.89 [[ 3.46510527e-01 2.99510635e-03 -9.38041302e-01 1.49256943e+02] [ 5.76544591e-02 -9.98172319e-01 1.81103377e-02 -7.39904988e+01] [-9.36272619e-01 -6.03576866e-02 -3.46049898e-01 -1.68913125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-73.90, Z:-16.92 [[ 3.34869865e-01 2.13652948e-01 -9.17722502e-01 1.49181781e+02] [ 1.34280557e-01 -9.74834415e-01 -1.77951106e-01 -7.38996605e+01] [-9.32647257e-01 -6.36418260e-02 -3.55132106e-01 -1.69152977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75361786499997 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:149.03, Y:-73.76, Z:-16.95 [[ 2.99341096e-01 4.96467297e-01 -8.14809874e-01 1.49027377e+02] [ 2.01933521e-01 -8.67587279e-01 -4.54439399e-01 -7.37586757e+01] [-9.32532981e-01 -2.85050394e-02 -3.59957916e-01 -1.69511559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-74.88, Z:-17.40 [[ 2.95504796e-01 -5.64601371e-01 7.70650509e-01 1.48552329e+02] [ 2.37714810e-01 8.24759589e-01 5.13091892e-01 -7.48827974e+01] [-9.25293783e-01 3.15739246e-02 3.77934522e-01 -1.73985121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-74.89, Z:-17.42 [[ 2.89729258e-01 -6.12750342e-01 7.35250961e-01 1.48598409e+02] [ 2.33934576e-01 7.90237056e-01 5.66392099e-01 -7.48905483e+01] [-9.28079507e-01 7.90025961e-03 3.72298288e-01 -1.74175947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84361786499997 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:148.56, Y:-74.87, Z:-17.45 [[ 2.95022959e-01 -5.55716209e-01 7.77265044e-01 1.48560705e+02] [ 2.36472888e-01 8.30631758e-01 5.04114527e-01 -7.48671953e+01] [-9.25765644e-01 3.50767507e-02 3.76467256e-01 -1.74543691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.64, Y:-74.88, Z:-17.46 [[ 2.88925026e-01 -6.44138748e-01 7.08242615e-01 1.48642946e+02] [ 2.33892609e-01 7.64869234e-01 6.00224377e-01 -7.48845421e+01] [-9.28340765e-01 -7.76713071e-03 3.71649156e-01 -1.74623859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.61, Y:-74.87, Z:-17.50 [[ 2.87801491e-01 -5.99613477e-01 7.46748940e-01 1.48613779e+02] [ 2.34083651e-01 8.00132575e-01 5.52261448e-01 -7.48656543e+01] [-9.28641560e-01 1.58600500e-02 3.70639060e-01 -1.75043530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93361786499997 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:148.60, Y:-74.85, Z:-17.54 [[ 2.86553003e-01 -5.67336715e-01 7.72021002e-01 1.48595031e+02] [ 2.31456004e-01 8.22938824e-01 5.18844688e-01 -7.48512906e+01] [-9.29685697e-01 3.00123924e-02 3.67129080e-01 -1.75405420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:148.61, Y:-74.85, Z:-17.57 [[ 2.86703115e-01 -5.80835042e-01 7.61860865e-01 1.48614408e+02] [ 2.31906080e-01 8.13671852e-01 5.33064431e-01 -7.48488338e+01] [-9.29527242e-01 2.38489344e-02 3.67981432e-01 -1.75658860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.64, Y:-74.85, Z:-17.58 [[ 2.88582320e-01 -6.06906333e-01 7.40530180e-01 1.48643829e+02] [ 2.34996954e-01 7.94675033e-01 5.59703514e-01 -7.48460114e+01] [-9.28168453e-01 1.25017981e-02 3.71950304e-01 -1.75826684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-74.83, Z:-17.62 [[ 2.88836073e-01 -5.95810817e-01 7.49388546e-01 1.48643780e+02] [ 2.34115463e-01 8.02942396e-01 5.48154593e-01 -7.48340166e+01] [-9.28312271e-01 1.71166266e-02 3.71407254e-01 -1.76155701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:-74.82, Z:-17.64 [[ 2.91067049e-01 -5.95187900e-01 7.49020251e-01 1.48653153e+02] [ 2.33281397e-01 8.03441049e-01 5.47779399e-01 -7.48244572e+01] [-9.27825287e-01 1.52919576e-02 3.72701480e-01 -1.76446516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:148.66, Y:-74.82, Z:-17.68 [[ 2.89009814e-01 -5.98225123e-01 7.47395497e-01 1.48662406e+02] [ 2.31995756e-01 8.01206148e-01 5.51585603e-01 -7.48179826e+01] [-9.28790233e-01 1.39789306e-02 3.70342130e-01 -1.76762723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.67, Y:-74.81, Z:-17.70 [[ 2.90461110e-01 -5.96017743e-01 7.48595480e-01 1.48671721e+02] [ 2.32232613e-01 8.02842921e-01 5.49100408e-01 -7.48088238e+01] [-9.28278168e-01 1.43559703e-02 3.71609404e-01 -1.77044026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.68, Y:-74.80, Z:-17.73 [[ 2.90679664e-01 -5.98747428e-01 7.46328916e-01 1.48683297e+02] [ 2.31541047e-01 8.00844018e-01 5.52302093e-01 -7.48004936e+01] [-9.28382505e-01 1.22627917e-02 3.71423677e-01 -1.77328974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:-74.79, Z:-17.76 [[ 2.89528643e-01 -5.98386042e-01 7.47065800e-01 1.48691186e+02] [ 2.31306810e-01 8.01102871e-01 5.52024773e-01 -7.47921387e+01] [-9.28800476e-01 1.29744240e-02 3.70352994e-01 -1.77642620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.70, Y:-74.78, Z:-17.79 [[ 2.89704234e-01 -5.97795387e-01 7.47470489e-01 1.48700441e+02] [ 2.31145654e-01 8.01543044e-01 5.51453021e-01 -7.47838158e+01] [-9.28785844e-01 1.30162799e-02 3.70388219e-01 -1.77934771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.71, Y:-74.77, Z:-17.82 [[ 2.90883021e-01 -5.97220736e-01 7.47472047e-01 1.48711197e+02] [ 2.31582176e-01 8.01972729e-01 5.50644565e-01 -7.47744040e+01] [-9.28308550e-01 1.29280486e-02 3.71585928e-01 -1.78228380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:-74.77, Z:-17.85 [[ 2.87798334e-01 -5.96853334e-01 7.48958088e-01 1.48715535e+02] [ 2.30865665e-01 8.02220206e-01 5.50584949e-01 -7.47652510e+01] [-9.29447774e-01 1.44512759e-02 3.68670580e-01 -1.78541563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:-74.75, Z:-17.88 [[ 2.88777206e-01 -5.93469960e-01 7.51266352e-01 1.48723199e+02] [ 2.31839265e-01 8.04690259e-01 5.46556623e-01 -7.47547280e+01] [-9.28901653e-01 1.63399442e-02 3.69965844e-01 -1.78833815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:-74.75, Z:-17.92 [[ 2.86832881e-01 -5.93310576e-01 7.52136595e-01 1.48728619e+02] [ 2.31358530e-01 8.04789300e-01 5.46614501e-01 -7.47455239e+01] [-9.29623649e-01 1.72262052e-02 3.68107497e-01 -1.79153775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.74, Y:-74.74, Z:-17.94 [[ 2.87443842e-01 -5.98857104e-01 7.47493282e-01 1.48742999e+02] [ 2.31343096e-01 8.00731748e-01 5.52547772e-01 -7.47381727e+01] [-9.29438761e-01 1.41009560e-02 3.68706866e-01 -1.79440525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.75, Y:-74.73, Z:-17.97 [[ 2.86913097e-01 -5.93290692e-01 7.52121685e-01 1.48745659e+02] [ 2.31057371e-01 8.04810355e-01 5.46710878e-01 -7.47283143e+01] [-9.29673796e-01 1.69247484e-02 3.67994819e-01 -1.79742309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:-74.72, Z:-18.00 [[ 2.86453048e-01 -5.93419327e-01 7.52195556e-01 1.48750452e+02] [ 2.31147958e-01 8.04709040e-01 5.46821710e-01 -7.47187693e+01] [-9.29793134e-01 1.72297216e-02 3.67679023e-01 -1.80036161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-74.71, Z:-18.04 [[ 2.88626544e-01 -5.96036919e-01 7.49289470e-01 1.48762492e+02] [ 2.33015199e-01 8.02793877e-01 5.48840513e-01 -7.47110012e+01] [-9.28654206e-01 1.61858949e-02 3.70593284e-01 -1.80356774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-74.70, Z:-18.07 [[ 2.89346572e-01 -5.88132310e-01 7.55234366e-01 1.48763668e+02] [ 2.33174084e-01 8.08523102e-01 5.40296438e-01 -7.46996546e+01] [-9.28390224e-01 1.97681590e-02 3.71080600e-01 -1.80663316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-74.70, Z:-18.09 [[ 2.90526814e-01 -6.09628769e-01 7.37527582e-01 1.48790387e+02] [ 2.33217909e-01 7.92643116e-01 5.63317226e-01 -7.46966453e+01] [-9.28010548e-01 8.34588128e-03 3.72460426e-01 -1.80906249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-74.68, Z:-18.12 [[ 2.89674529e-01 -5.94751133e-01 7.49906499e-01 1.48787064e+02] [ 2.31670765e-01 8.03770008e-01 5.47980320e-01 -7.46833731e+01] [-9.28664269e-01 1.49954706e-02 3.70618148e-01 -1.81228484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-74.68, Z:-18.15 [[ 2.87475385e-01 -5.91207702e-01 7.53545856e-01 1.48788040e+02] [ 2.31477904e-01 8.06319456e-01 5.44304065e-01 -7.46750297e+01] [-9.29395440e-01 1.79551947e-02 3.68648515e-01 -1.81512294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-74.68, Z:-18.18 [[ 2.84326901e-01 -6.30313246e-01 7.22401152e-01 1.48828642e+02] [ 2.29347585e-01 7.76339906e-01 5.87108197e-01 -7.46796067e+01] [-9.30890917e-01 -1.24969433e-03 3.65295141e-01 -1.81754482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.80, Y:-74.65, Z:-18.21 [[ 2.87812904e-01 -5.82238056e-01 7.60370027e-01 1.48799533e+02] [ 2.32476187e-01 8.12693317e-01 5.34307398e-01 -7.46522129e+01] [-9.29041740e-01 2.29873608e-02 3.69260106e-01 -1.82116985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:-74.65, Z:-18.24 [[ 2.91251374e-01 -5.96700913e-01 7.47743711e-01 1.48818590e+02] [ 2.33925748e-01 8.02323913e-01 5.49140313e-01 -7.46492195e+01] [-9.27605186e-01 1.49786360e-02 3.73261649e-01 -1.82361531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-74.64, Z:-18.27 [[ 2.88514962e-01 -6.06109281e-01 7.41208915e-01 1.48831746e+02] [ 2.34956676e-01 7.95276585e-01 5.58865381e-01 -7.46441707e+01] [-9.28199589e-01 1.29109592e-02 3.71858616e-01 -1.82651071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:-74.64, Z:-18.29 [[ 2.86311027e-01 -6.17299822e-01 7.32780271e-01 1.48848777e+02] [ 2.33871153e-01 7.86689357e-01 5.71335401e-01 -7.46373006e+01] [-9.29155681e-01 7.79654147e-03 3.69606458e-01 -1.82904828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-74.63, Z:-18.32 [[ 2.90567124e-01 -6.17669393e-01 7.30790851e-01 1.48864808e+02] [ 2.36502929e-01 7.86406495e-01 5.70641034e-01 -7.46266837e+01] [-9.27166172e-01 7.02465292e-03 3.74584494e-01 -1.83201228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:-74.61, Z:-18.36 [[ 2.81586069e-01 -5.87164344e-01 7.58911931e-01 1.48841872e+02] [ 2.36496204e-01 8.08985323e-01 5.38156383e-01 -7.46087220e+01] [-9.29934853e-01 2.79424504e-02 3.66661136e-01 -1.83555994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:-74.61, Z:-18.38 [[ 2.81048947e-01 -6.14066111e-01 7.37519017e-01 1.48870555e+02] [ 2.37296183e-01 7.89096970e-01 5.66583174e-01 -7.46102576e+01] [-9.29893548e-01 1.57728430e-02 3.67490417e-01 -1.83810887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:-74.60, Z:-18.41 [[ 2.81086308e-01 -6.01021434e-01 7.48173592e-01 1.48869554e+02] [ 2.39085559e-01 7.98880332e-01 5.51931437e-01 -7.45971741e+01] [-9.29423791e-01 2.37371317e-02 3.68249868e-01 -1.84132227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:-74.58, Z:-18.44 [[ 2.82357234e-01 -5.91818322e-01 7.55000309e-01 1.48869562e+02] [ 2.43165580e-01 8.05475378e-01 5.40444184e-01 -7.45849617e+01] [-9.27978929e-01 3.09917626e-02 3.71341645e-01 -1.84437062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-74.59, Z:-18.47 [[ 2.80382411e-01 -6.21761766e-01 7.31298851e-01 1.48903974e+02] [ 2.42210605e-01 7.83032555e-01 5.72882223e-01 -7.45862006e+01] [-9.28827070e-01 1.65022379e-02 3.70145849e-01 -1.84688532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-74.57, Z:-18.50 [[ 2.83254239e-01 -5.95666558e-01 7.51630486e-01 1.48895690e+02] [ 2.46119904e-01 8.02629905e-01 5.43332521e-01 -7.45675281e+01] [-9.26926118e-01 3.10899838e-02 3.73953719e-01 -1.85035807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-74.56, Z:-18.53 [[ 2.77941537e-01 -5.92959374e-01 7.55743133e-01 1.48897938e+02] [ 2.44886040e-01 8.04485853e-01 5.41140777e-01 -7.45576809e+01] [-9.28859155e-01 3.46654437e-02 3.68807507e-01 -1.85340145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-74.55, Z:-18.56 [[ 2.77376586e-01 -6.07558506e-01 7.44268024e-01 1.48916852e+02] [ 2.45511998e-01 7.93767905e-01 5.56467764e-01 -7.45546887e+01] [-9.28862793e-01 2.83756007e-02 3.69335534e-01 -1.85613405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:-74.54, Z:-18.59 [[ 2.73821991e-01 -5.94254238e-01 7.56229739e-01 1.48911429e+02] [ 2.45714172e-01 8.03411565e-01 5.42360030e-01 -7.45426502e+01] [-9.29863465e-01 3.73062611e-02 3.66008442e-01 -1.85947626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:-74.55, Z:-18.62 [[ 2.82035893e-01 -6.30576370e-01 7.23069289e-01 1.48958493e+02] [ 2.47957521e-01 7.75968154e-01 5.79991803e-01 -7.45454449e+01] [-9.26807867e-01 1.57119622e-02 3.75207025e-01 -1.86160984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-74.52, Z:-18.66 [[ 2.73024793e-01 -5.79414201e-01 7.67943127e-01 1.48918271e+02] [ 2.48289500e-01 8.13667722e-01 5.25639765e-01 -7.45204244e+01] [-9.29413679e-01 4.71595271e-02 3.66013924e-01 -1.86553846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:-74.53, Z:-18.68 [[ 2.76505181e-01 -6.21792882e-01 7.32747226e-01 1.48961944e+02] [ 2.47938868e-01 7.82817906e-01 5.70720986e-01 -7.45285924e+01] [-9.28477895e-01 2.38692083e-02 3.70619830e-01 -1.86767386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:-74.51, Z:-18.71 [[ 2.76316432e-01 -6.03551535e-01 7.47913614e-01 1.48955904e+02] [ 2.48116928e-01 7.96629765e-01 5.51197793e-01 -7.45144198e+01] [-9.28486521e-01 3.32650202e-02 3.69873247e-01 -1.87087641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:-74.51, Z:-18.74 [[ 2.76125090e-01 -6.17806894e-01 7.36253745e-01 1.48977943e+02] [ 2.46244216e-01 7.85942016e-01 5.67149834e-01 -7.45108594e+01] [-9.29041830e-01 2.46939270e-02 3.69149684e-01 -1.87387636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.97, Y:-74.49, Z:-18.77 [[ 2.77282604e-01 -5.92173519e-01 7.56600873e-01 1.48966317e+02] [ 2.45519298e-01 8.05005674e-01 5.40079753e-01 -7.44943830e+01] [-9.28888923e-01 3.60053950e-02 3.68604096e-01 -1.87703734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-74.50, Z:-18.79 [[ 2.88052758e-01 -6.28814567e-01 7.22231160e-01 1.49017818e+02] [ 2.46682421e-01 7.77470003e-01 5.78522410e-01 -7.44964487e+01] [-9.25296380e-01 1.15167550e-02 3.79069878e-01 -1.87921935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:-74.47, Z:-18.83 [[ 2.86469163e-01 -5.83309534e-01 7.60056186e-01 1.48985398e+02] [ 2.42528701e-01 8.11615968e-01 5.31469049e-01 -7.44739438e+01] [-9.26884700e-01 3.20859461e-02 3.73972250e-01 -1.88304227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-74.47, Z:-18.86 [[ 2.92370980e-01 -6.05784957e-01 7.39962023e-01 1.49020497e+02] [ 2.42375489e-01 7.95447782e-01 5.55443021e-01 -7.44723457e+01] [-9.25080176e-01 1.69532369e-02 3.79393272e-01 -1.88551699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:-74.46, Z:-18.89 [[ 2.89552896e-01 -5.75675640e-01 7.64693846e-01 1.49000003e+02] [ 2.39286891e-01 8.17086214e-01 5.24511109e-01 -7.44560567e+01] [-9.26769068e-01 3.11075022e-02 3.74341313e-01 -1.88925831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-74.45, Z:-18.92 [[ 2.89905038e-01 -5.89497366e-01 7.53954856e-01 1.49019527e+02] [ 2.37847001e-01 8.07448016e-01 5.39867118e-01 -7.44540116e+01] [-9.27029597e-01 2.28157039e-02 3.74293429e-01 -1.89202343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:-74.45, Z:-18.94 [[ 2.86943848e-01 -5.97706593e-01 7.48605408e-01 1.49032554e+02] [ 2.33506637e-01 8.01537801e-01 5.50465080e-01 -7.44516927e+01] [-9.29052140e-01 1.68517628e-02 3.69564798e-01 -1.89444603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40361786499997 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:149.05, Y:-74.44, Z:-18.97 [[ 2.93058277e-01 -5.98320153e-01 7.45741135e-01 1.49048220e+02] [ 2.40896580e-01 8.01030723e-01 5.48013338e-01 -7.44379445e+01] [-9.25248985e-01 1.90466437e-02 3.78881962e-01 -1.89697309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:-74.43, Z:-19.00 [[ 2.92264696e-01 -5.93600476e-01 7.49813191e-01 1.49050119e+02] [ 2.39734970e-01 8.04487715e-01 5.43439656e-01 -7.44323760e+01] [-9.25801540e-01 2.09282171e-02 3.77430150e-01 -1.89976673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:-74.43, Z:-19.03 [[ 2.91017129e-01 -5.93552413e-01 7.50336300e-01 1.49058705e+02] [ 2.41322058e-01 8.04463275e-01 5.42772975e-01 -7.44251991e+01] [-9.25782207e-01 2.31164670e-02 3.77349883e-01 -1.90301970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:-74.42, Z:-19.06 [[ 2.93442005e-01 -5.97572463e-01 7.46189615e-01 1.49074865e+02] [ 2.42943101e-01 8.01541008e-01 5.46361293e-01 -7.44186972e+01] [-9.24592040e-01 2.09562657e-02 3.80381907e-01 -1.90595823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:-74.41, Z:-19.09 [[ 2.89526385e-01 -5.85757579e-01 7.57008937e-01 1.49074040e+02] [ 2.43395802e-01 8.09939962e-01 5.33625094e-01 -7.44078294e+01] [-9.25706733e-01 2.97542529e-02 3.77069925e-01 -1.90906052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:-74.41, Z:-19.12 [[ 2.86309030e-01 -5.99089641e-01 7.47742430e-01 1.49091427e+02] [ 2.42699448e-01 8.00307019e-01 5.48275161e-01 -7.44066998e+01] [-9.26889485e-01 2.45005452e-02 3.74533852e-01 -1.91150218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:-74.40, Z:-19.14 [[ 2.91822697e-01 -5.89602204e-01 7.53132627e-01 1.49096069e+02] [ 2.45463781e-01 8.07200956e-01 5.36818544e-01 -7.43960558e+01] [-9.24438773e-01 2.82109468e-02 3.80285546e-01 -1.91405067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:-74.39, Z:-19.17 [[ 2.87769937e-01 -5.98642197e-01 7.47539954e-01 1.49108063e+02] [ 2.46843837e-01 8.00548348e-01 5.46068186e-01 -7.43922209e+01] [-9.25341334e-01 2.73836231e-02 3.78144884e-01 -1.91703221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:-74.39, Z:-19.20 [[ 2.86530885e-01 -6.06466734e-01 7.41686021e-01 1.49123359e+02] [ 2.46998012e-01 7.94736366e-01 5.54424106e-01 -7.43884577e+01] [-9.25684630e-01 2.43353430e-02 3.77512592e-01 -1.91983377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:-74.38, Z:-19.23 [[ 2.90323395e-01 -6.02500489e-01 7.43441650e-01 1.49134174e+02] [ 2.49904442e-01 7.97680416e-01 5.48865852e-01 -7.43792561e+01] [-9.23720789e-01 2.64407727e-02 3.82152835e-01 -1.92296969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:-74.37, Z:-19.26 [[ 2.88196255e-01 -6.01307306e-01 7.45233146e-01 1.49143891e+02] [ 2.48944275e-01 7.98541856e-01 5.48048951e-01 -7.43715423e+01] [-9.24645698e-01 2.75758705e-02 3.79828783e-01 -1.92606833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:-74.36, Z:-19.29 [[ 2.92421658e-01 -5.96439971e-01 7.47495107e-01 1.49154734e+02] [ 2.50789265e-01 8.02133910e-01 5.41927980e-01 -7.43612956e+01] [-9.22818682e-01 2.89922699e-02 3.84142069e-01 -1.92902193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:-74.35, Z:-19.32 [[ 2.92699480e-01 -5.87191800e-01 7.54673972e-01 1.49159357e+02] [ 2.50009681e-01 8.08780380e-01 5.32324578e-01 -7.43504365e+01] [-9.22942129e-01 3.28646717e-02 3.83533231e-01 -1.93196881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-74.34, Z:-19.35 [[ 2.91230761e-01 -5.89360428e-01 7.53550881e-01 1.49168700e+02] [ 2.47836136e-01 8.07283899e-01 5.35602423e-01 -7.43435200e+01] [-9.23992367e-01 3.07732379e-02 3.81170715e-01 -1.93512376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-74.33, Z:-19.38 [[ 2.92530311e-01 -5.81757744e-01 7.58936061e-01 1.49172631e+02] [ 2.47707144e-01 8.12663892e-01 5.27464282e-01 -7.43332797e+01] [-9.23616364e-01 3.36945944e-02 3.81834370e-01 -1.93809574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-74.33, Z:-19.41 [[ 2.93258900e-01 -5.92266312e-01 7.50479735e-01 1.49192231e+02] [ 2.46577730e-01 8.05291942e-01 5.39170021e-01 -7.43286045e+01] [-9.23687523e-01 2.69351821e-02 3.82198712e-01 -1.94081157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-74.32, Z:-19.44 [[ 2.93640984e-01 -5.82619258e-01 7.57845481e-01 1.49196112e+02] [ 2.46710825e-01 8.12126629e-01 5.28757134e-01 -7.43175485e+01] [-9.23530585e-01 3.17039182e-02 3.82212141e-01 -1.94403978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-74.31, Z:-19.47 [[ 2.93137108e-01 -5.67686870e-01 7.69286848e-01 1.49189553e+02] [ 2.44760220e-01 8.22379255e-01 5.13599840e-01 -7.43066662e+01] [-9.24209430e-01 3.77356464e-02 3.80017039e-01 -1.94714823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-74.31, Z:-19.50 [[ 2.95598298e-01 -6.02442597e-01 7.41407151e-01 1.49225880e+02] [ 2.44653803e-01 7.97946384e-01 5.50841252e-01 -7.43117653e+01] [-9.23453390e-01 1.85603429e-02 3.83261465e-01 -1.94968445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-74.30, Z:-19.53 [[ 2.94789671e-01 -5.91370675e-01 7.50586287e-01 1.49225909e+02] [ 2.44001158e-01 8.06037106e-01 5.39228726e-01 -7.43008742e+01] [-9.23884454e-01 2.41848640e-02 3.81906543e-01 -1.95284228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-74.30, Z:-19.56 [[ 2.91404669e-01 -5.94893199e-01 7.49123088e-01 1.49233848e+02] [ 2.39462536e-01 8.03541161e-01 5.44958068e-01 -7.42953805e+01] [-9.26143084e-01 2.05835884e-02 3.76610280e-01 -1.95581427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:-74.29, Z:-19.58 [[ 2.95400710e-01 -6.00946118e-01 7.42699256e-01 1.49250625e+02] [ 2.40086647e-01 7.99139031e-01 5.51121775e-01 -7.42900480e+01] [-9.24714455e-01 1.55104099e-02 3.80345375e-01 -1.95848430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:-74.28, Z:-19.61 [[ 2.97178275e-01 -5.82660688e-01 7.56433471e-01 1.49245303e+02] [ 2.40523038e-01 8.12359150e-01 5.31245028e-01 -7.42767179e+01] [-9.24031245e-01 2.40651959e-02 3.81558810e-01 -1.96149212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-74.27, Z:-19.64 [[ 2.99174880e-01 -5.91093400e-01 7.49068076e-01 1.49259529e+02] [ 2.35658358e-01 8.06476536e-01 5.42273673e-01 -7.42732815e+01] [-9.24640216e-01 1.42894915e-02 3.80573621e-01 -1.96381389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-74.27, Z:-19.67 [[ 2.97859354e-01 -6.09001434e-01 7.35117038e-01 1.49282508e+02] [ 2.34325032e-01 7.93154484e-01 5.62136767e-01 -7.42722583e+01] [-9.25403471e-01 4.81862900e-03 3.78952763e-01 -1.96654527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:-74.25, Z:-19.70 [[ 3.01326913e-01 -5.76648039e-01 7.59393923e-01 1.49268775e+02] [ 2.34417865e-01 8.16768064e-01 5.27198439e-01 -7.42517059e+01] [-9.24256651e-01 1.91564235e-02 3.81290802e-01 -1.96979686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-74.25, Z:-19.72 [[ 3.03683441e-01 -5.88427980e-01 7.49352307e-01 1.49289309e+02] [ 2.30974138e-01 8.08502763e-01 5.41270939e-01 -7.42487476e+01] [-9.24352376e-01 8.70598190e-03 3.81440546e-01 -1.97235154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:-74.24, Z:-19.75 [[ 3.05412092e-01 -5.91586559e-01 7.46156015e-01 1.49301313e+02] [ 2.30203292e-01 8.06223924e-01 5.44985714e-01 -7.42433635e+01] [-9.23975053e-01 5.32234433e-03 3.82415708e-01 -1.97520126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-74.24, Z:-19.77 [[ 3.05871381e-01 -6.11468259e-01 7.29759732e-01 1.49325111e+02] [ 2.25568857e-01 7.91214876e-01 5.68416846e-01 -7.42448075e+01] [-9.24965615e-01 -9.25137737e-03 3.79938183e-01 -1.97740298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27361786499998 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:149.33, Y:-74.22, Z:-19.81 [[ 3.15340485e-01 -5.92429640e-01 7.41341690e-01 1.49331075e+02] [ 2.41273622e-01 8.05580215e-01 5.41135433e-01 -7.42166688e+01] [-9.17794867e-01 8.22428472e-03 3.96969700e-01 -1.98102441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-74.19, Z:-19.84 [[ 3.12754750e-01 -5.59315152e-01 7.67692013e-01 1.49312226e+02] [ 2.44850295e-01 8.28397259e-01 5.03791936e-01 -7.41936886e+01] [-9.17732422e-01 3.04062947e-02 3.96033658e-01 -1.98447375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-74.19, Z:-19.87 [[ 3.11097418e-01 -5.75284333e-01 7.56482870e-01 1.49332509e+02] [ 2.45733795e-01 8.17604200e-01 5.20709395e-01 -7.41923120e+01] [-9.18059529e-01 2.39020584e-02 3.95721358e-01 -1.98725452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:-74.19, Z:-19.89 [[ 3.08967443e-01 -5.71577748e-01 7.60156561e-01 1.49335592e+02] [ 2.43488878e-01 8.20163084e-01 5.17731284e-01 -7.41868436e+01] [-9.19376031e-01 2.51275572e-02 3.92576515e-01 -1.98945777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:-74.20, Z:-19.92 [[ 3.12044657e-01 -6.37705869e-01 7.04243819e-01 1.49400082e+02] [ 2.48010558e-01 7.70230976e-01 5.87567023e-01 -7.42025058e+01] [-9.17125343e-01 -8.68724760e-03 3.98504249e-01 -1.99156225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:-74.17, Z:-19.95 [[ 3.12406740e-01 -5.87780001e-01 7.46268517e-01 1.49376421e+02] [ 2.50459461e-01 8.08756889e-01 5.32148808e-01 -7.41744572e+01] [-9.16336230e-01 2.06631365e-02 3.99876166e-01 -1.99528187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:-74.17, Z:-19.98 [[ 3.06058885e-01 -5.97603192e-01 7.41079202e-01 1.49389794e+02] [ 2.47570643e-01 8.01613452e-01 5.44173365e-01 -7.41728054e+01] [-9.19258797e-01 1.69203610e-02 3.93289926e-01 -1.99803147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:-74.17, Z:-20.01 [[ 3.07756350e-01 -6.03427701e-01 7.35636486e-01 1.49406486e+02] [ 2.52642988e-01 7.97233857e-01 5.48260612e-01 -7.41671995e+01] [-9.17309953e-01 1.71227149e-02 3.97805559e-01 -2.00102584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:-74.16, Z:-20.04 [[ 3.01396246e-01 -5.96585305e-01 7.43805268e-01 1.49406483e+02] [ 2.50520000e-01 8.02219917e-01 5.41925210e-01 -7.41599778e+01] [-9.20000017e-01 2.30038718e-02 3.91242623e-01 -2.00370139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:-74.16, Z:-20.07 [[ 3.01760763e-01 -6.23814738e-01 7.20968525e-01 1.49440731e+02] [ 2.56253619e-01 7.81462813e-01 5.68902412e-01 -7.41626205e+01] [-9.18299801e-01 1.30783677e-02 3.95669600e-01 -2.00658566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:-74.15, Z:-20.10 [[ 2.98266218e-01 -5.99110473e-01 7.43036947e-01 1.49429484e+02] [ 2.56759717e-01 8.00137499e-01 5.42083416e-01 -7.41466959e+01] [-9.19299576e-01 2.90967860e-02 3.92481421e-01 -2.00990278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:-74.15, Z:-20.13 [[ 2.97789427e-01 -6.21339082e-01 7.24747682e-01 1.49456668e+02] [ 2.58199926e-01 7.83317626e-01 5.65461135e-01 -7.41471657e+01] [-9.19050736e-01 1.87414510e-02 3.93693412e-01 -2.01251855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:-74.14, Z:-20.16 [[ 2.99596371e-01 -6.08580571e-01 7.34759623e-01 1.49457887e+02] [ 2.62512130e-01 7.92991784e-01 5.49773965e-01 -7.41360579e+01] [-9.17240097e-01 2.81730288e-02 3.97337242e-01 -2.01552366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:-74.14, Z:-20.18 [[ 2.96974067e-01 -6.23701991e-01 7.23050642e-01 1.49478758e+02] [ 2.60758276e-01 7.81401785e-01 5.66935951e-01 -7.41351840e+01] [-9.18592143e-01 2.01761641e-02 3.94691522e-01 -2.01809488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-74.13, Z:-20.21 [[ 2.99420854e-01 -6.16839810e-01 7.27911946e-01 1.49485142e+02] [ 2.62328316e-01 7.86733573e-01 5.58779151e-01 -7.41253253e+01] [-9.17349991e-01 2.36417840e-02 3.97378987e-01 -2.02111672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:-74.12, Z:-20.24 [[ 2.98607479e-01 -6.18568878e-01 7.26777900e-01 1.49498687e+02] [ 2.64275050e-01 7.85335913e-01 5.59826939e-01 -7.41179974e+01] [-9.17056308e-01 2.49007550e-02 3.97979499e-01 -2.02443347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:-74.11, Z:-20.27 [[ 2.96939903e-01 -6.09324177e-01 7.35221559e-01 1.49502277e+02] [ 2.60938500e-01 7.92422005e-01 5.51342421e-01 -7.41079895e+01] [-9.18552009e-01 2.81320454e-02 3.94297850e-01 -2.02732612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:-74.10, Z:-20.30 [[ 2.95331018e-01 -6.12853422e-01 7.32932652e-01 1.49511740e+02] [ 2.58360953e-01 7.89798848e-01 5.56297939e-01 -7.41030885e+01] [-9.19798461e-01 2.50691420e-02 3.91589492e-01 -2.03002866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-74.10, Z:-20.33 [[ 2.97043491e-01 -6.19931141e-01 7.26257905e-01 1.49528742e+02] [ 2.58206073e-01 7.84401154e-01 5.63954301e-01 -7.40978450e+01] [-9.19290372e-01 2.00052478e-02 3.93071243e-01 -2.03314163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:-74.09, Z:-20.36 [[ 3.00999391e-01 -6.22194485e-01 7.22684848e-01 1.49545120e+02] [ 2.54258403e-01 7.82758449e-01 5.68015735e-01 -7.40916179e+01] [-9.19103929e-01 1.27763051e-02 3.93807992e-01 -2.03575218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:-74.08, Z:-20.39 [[ 3.04552766e-01 -6.17995237e-01 7.24796178e-01 1.49554827e+02] [ 2.53016782e-01 7.86095755e-01 5.63946781e-01 -7.40827870e+01] [-9.18275624e-01 1.16340446e-02 3.95770802e-01 -2.03865796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.57, Y:-74.08, Z:-20.42 [[ 3.06666486e-01 -6.18865789e-01 7.23160288e-01 1.49568209e+02] [ 2.51901812e-01 7.85447535e-01 5.65347368e-01 -7.40754770e+01] [-9.17878611e-01 8.79229610e-03 3.96763849e-01 -2.04153751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:-74.06, Z:-20.45 [[ 3.11305430e-01 -5.94303073e-01 7.41547562e-01 1.49559635e+02] [ 2.49135787e-01 8.04067827e-01 5.39820609e-01 -7.40616199e+01] [-9.17071583e-01 1.66969487e-02 3.98372844e-01 -2.04480752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:-74.07, Z:-20.47 [[ 3.11264782e-01 -6.30693578e-01 7.10872595e-01 1.49601183e+02] [ 2.46575367e-01 7.76013094e-01 5.80520686e-01 -7.40656202e+01] [-9.17777110e-01 -5.41197358e-03 3.97059046e-01 -2.04744541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:-74.05, Z:-20.51 [[ 3.12811493e-01 -5.92734010e-01 7.42169363e-01 1.49583645e+02] [ 2.45201210e-01 8.05291320e-01 5.39798349e-01 -7.40450928e+01] [-9.17619385e-01 1.31256980e-02 3.97243476e-01 -2.05094767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:-74.04, Z:-20.54 [[ 3.17073648e-01 -6.03161036e-01 7.31888699e-01 1.49607498e+02] [ 2.41834842e-01 7.97617419e-01 5.52559827e-01 -7.40409947e+01] [-9.17049732e-01 1.79402813e-03 3.98768818e-01 -2.05395629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:-74.03, Z:-20.57 [[ 3.21385305e-01 -5.93397403e-01 7.37964097e-01 1.49614570e+02] [ 2.40133542e-01 8.04904725e-01 5.42645617e-01 -7.40301728e+01] [-9.15995288e-01 2.81160547e-03 4.01179170e-01 -2.05667266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:-74.03, Z:-20.59 [[ 3.28059053e-01 -6.10321618e-01 7.21030360e-01 1.49647713e+02] [ 2.41044120e-01 7.92088380e-01 5.60797406e-01 -7.40258874e+01] [-9.13386550e-01 -1.01745372e-02 4.06966201e-01 -2.05912256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:-74.00, Z:-20.63 [[ 3.29325156e-01 -5.65945621e-01 7.55811151e-01 1.49628361e+02] [ 2.43218618e-01 8.24297618e-01 5.11251544e-01 -7.40031259e+01] [-9.12353904e-01 1.54593488e-02 4.09110453e-01 -2.06327604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:-73.99, Z:-20.66 [[ 3.29728110e-01 -5.51948371e-01 7.65919296e-01 1.49629792e+02] [ 2.42704299e-01 8.33580773e-01 4.96223456e-01 -7.39917097e+01] [-9.12345327e-01 2.22730837e-02 4.08815256e-01 -2.06622293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:-73.99, Z:-20.69 [[ 3.29066388e-01 -5.48151041e-01 7.68925060e-01 1.49632063e+02] [ 2.43373149e-01 8.35996711e-01 4.91811965e-01 -7.39868569e+01] [-9.12406062e-01 2.52969264e-02 4.08503663e-01 -2.06859387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:-73.99, Z:-20.71 [[ 3.30460282e-01 -5.77374090e-01 7.46615807e-01 1.49664133e+02] [ 2.46163224e-01 8.16403451e-01 5.22387856e-01 -7.39903420e+01] [-9.11152934e-01 1.11609158e-02 4.11917182e-01 -2.07117704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:-73.98, Z:-20.74 [[ 3.28594031e-01 -5.76343558e-01 7.48233965e-01 1.49675852e+02] [ 2.48227443e-01 8.17074457e-01 5.20358019e-01 -7.39816544e+01] [-9.11267853e-01 1.47456648e-02 4.11550077e-01 -2.07446935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:-73.97, Z:-20.77 [[ 3.29796865e-01 -5.60808313e-01 7.59426141e-01 1.49678129e+02] [ 2.50127276e-01 8.27591260e-01 5.02522689e-01 -7.39684848e+01] [-9.10313338e-01 2.42227846e-02 4.13210458e-01 -2.07744070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-73.97, Z:-20.80 [[ 3.26056774e-01 -5.75055150e-01 7.50332296e-01 1.49697305e+02] [ 2.48149808e-01 8.17938836e-01 5.19035387e-01 -7.39689002e+01] [-9.12199898e-01 1.69598113e-02 4.09394323e-01 -2.07984335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.72, Y:-73.96, Z:-20.83 [[ 3.27725988e-01 -5.80530364e-01 7.45372506e-01 1.49715380e+02] [ 2.53434912e-01 8.14047539e-01 5.22587169e-01 -7.39645789e+01] [-9.10146374e-01 1.76380195e-02 4.13911196e-01 -2.08283707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:-73.96, Z:-20.86 [[ 3.23534207e-01 -5.93464799e-01 7.36970250e-01 1.49736168e+02] [ 2.53161480e-01 8.04757155e-01 5.36912643e-01 -7.39622011e+01] [-9.11720836e-01 1.28628729e-02 4.10608895e-01 -2.08559374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:-73.94, Z:-20.89 [[ 3.17995980e-01 -5.58280440e-01 7.66290746e-01 1.49713182e+02] [ 2.53883374e-01 8.28869912e-01 4.98515698e-01 -7.39440759e+01] [-9.13466906e-01 3.60224923e-02 4.05315422e-01 -2.08881503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-73.96, Z:-20.91 [[ 3.24423304e-01 -6.27964511e-01 7.07396701e-01 1.49788885e+02] [ 2.58889459e-01 7.78238051e-01 5.72120428e-01 -7.39600317e+01] [-9.09794355e-01 -2.47164985e-03 4.15051953e-01 -2.09057105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-73.94, Z:-20.94 [[ 3.24801141e-01 -5.71744651e-01 7.53400473e-01 1.49759483e+02] [ 2.59082809e-01 8.19905563e-01 5.10520290e-01 -7.39352142e+01] [-9.09604484e-01 2.93755383e-02 4.14435472e-01 -2.09445125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-73.93, Z:-20.98 [[ 3.22847710e-01 -5.54790099e-01 7.66796781e-01 1.49755302e+02] [ 2.61425171e-01 8.30934560e-01 4.91125887e-01 -7.39262256e+01] [-9.09629725e-01 4.19011119e-02 4.13301416e-01 -2.09760125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-73.93, Z:-21.00 [[ 3.19320157e-01 -5.84613217e-01 7.45829755e-01 1.49787091e+02] [ 2.61541165e-01 8.10833217e-01 5.23589260e-01 -7.39305562e+01] [-9.10840742e-01 2.78725782e-02 4.11815811e-01 -2.10007296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-73.92, Z:-21.03 [[ 3.24817910e-01 -5.69609065e-01 7.55009165e-01 1.49789154e+02] [ 2.65221032e-01 8.21123200e-01 5.05385490e-01 -7.39190441e+01] [-9.07827698e-01 3.60860512e-02 4.17787826e-01 -2.10308719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:-73.92, Z:-21.06 [[ 3.19356879e-01 -5.79768862e-01 7.49586053e-01 1.49805418e+02] [ 2.64220331e-01 8.14115954e-01 5.17110075e-01 -7.39195234e+01] [-9.10054284e-01 3.29132155e-02 4.13180251e-01 -2.10562701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-73.91, Z:-21.09 [[ 3.17386882e-01 -5.78880274e-01 7.51107979e-01 1.49815046e+02] [ 2.62431729e-01 8.14743892e-01 5.17031893e-01 -7.39139837e+01] [-9.11260202e-01 3.30154250e-02 4.10505574e-01 -2.10853653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-73.91, Z:-21.12 [[ 3.16226565e-01 -5.78289198e-01 7.52052102e-01 1.49824847e+02] [ 2.61699438e-01 8.15148011e-01 5.16766025e-01 -7.39079510e+01] [-9.11873985e-01 3.33964673e-02 4.09109413e-01 -2.11150905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-73.90, Z:-21.15 [[ 3.13505598e-01 -5.74550401e-01 7.56046346e-01 1.49831229e+02] [ 2.59337541e-01 8.17721956e-01 5.13882129e-01 -7.39025430e+01] [-9.13486880e-01 3.49662766e-02 4.05362899e-01 -2.11459590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:-73.90, Z:-21.17 [[ 3.14215030e-01 -5.74267053e-01 7.55967107e-01 1.49835670e+02] [ 2.59331273e-01 8.17933112e-01 5.13549135e-01 -7.38999829e+01] [-9.13244877e-01 3.46810551e-02 4.05932283e-01 -2.11712933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:-73.91, Z:-21.20 [[ 3.11210335e-01 -6.21880970e-01 7.18618248e-01 1.49884206e+02] [ 2.55781183e-01 7.83076944e-01 5.66891953e-01 -7.39071492e+01] [-9.15272699e-01 7.38639108e-03 4.02767088e-01 -2.11955010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:-73.89, Z:-21.23 [[ 3.11395711e-01 -5.91805939e-01 7.43504164e-01 1.49871711e+02] [ 2.54033137e-01 8.05772346e-01 5.34974852e-01 -7.38918714e+01] [-9.15696389e-01 2.22858213e-02 4.01252371e-01 -2.12308652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:-73.89, Z:-21.26 [[ 3.11459781e-01 -5.97884442e-01 7.38597995e-01 1.49887134e+02] [ 2.53952766e-01 8.01359873e-01 5.41599803e-01 -7.38860230e+01] [-9.15696892e-01 1.88824479e-02 4.01425778e-01 -2.12605513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:-73.88, Z:-21.29 [[ 3.13592342e-01 -5.87051708e-01 7.46344515e-01 1.49888285e+02] [ 2.52904954e-01 8.09237555e-01 5.30258110e-01 -7.38780603e+01] [-9.15258940e-01 2.24693429e-02 4.02238986e-01 -2.12909309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83361786499998 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:149.92, Y:-73.88, Z:-21.31 [[ 3.19363059e-01 -6.04502702e-01 7.29783337e-01 1.49915030e+02] [ 2.52659723e-01 7.96552483e-01 5.49242393e-01 -7.38787485e+01] [-9.13329240e-01 8.97912453e-03 4.07122923e-01 -2.13074632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:-73.88, Z:-21.34 [[ 3.14539807e-01 -6.19851183e-01 7.18922263e-01 1.49933772e+02] [ 2.46736788e-01 7.84718003e-01 5.68628712e-01 -7.38806632e+01] [-9.16616423e-01 -1.47179529e-03 3.99765140e-01 -2.13355166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:-73.87, Z:-21.37 [[ 3.15138322e-01 -5.96924304e-01 7.37813807e-01 1.49926996e+02] [ 2.45195769e-01 8.02242815e-01 5.44321138e-01 -7.38670284e+01] [-9.16824341e-01 9.37237359e-03 3.99180769e-01 -2.13693829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:-73.86, Z:-21.40 [[ 3.16388168e-01 -5.99494946e-01 7.35190001e-01 1.49940706e+02] [ 2.43805612e-01 8.00356397e-01 5.47712025e-01 -7.38615953e+01] [-9.16764610e-01 5.95384390e-03 3.99383526e-01 -2.13992755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:-73.86, Z:-21.43 [[ 3.17268711e-01 -5.95644303e-01 7.37935247e-01 1.49949047e+02] [ 2.42247529e-01 8.03225099e-01 5.44192590e-01 -7.38557445e+01] [-9.16873328e-01 6.10770829e-03 3.99131553e-01 -2.14283135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.98, Y:-73.85, Z:-21.45 [[ 3.23854661e-01 -6.08556781e-01 7.24414800e-01 1.49979602e+02] [ 2.42698788e-01 7.93495046e-01 5.58088622e-01 -7.38506878e+01] [-9.14448171e-01 -4.92500763e-03 4.04673063e-01 -2.14515475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.96, Y:-73.84, Z:-21.49 [[ 3.17188023e-01 -5.80546998e-01 7.49904621e-01 1.49958552e+02] [ 2.41386956e-01 8.14114943e-01 5.28156413e-01 -7.38386364e+01] [-9.17128178e-01 1.34923054e-02 3.98363982e-01 -2.14886674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.98, Y:-73.84, Z:-21.51 [[ 3.17208315e-01 -6.00502596e-01 7.34013295e-01 1.49984854e+02] [ 2.41174531e-01 7.99618655e-01 5.49949864e-01 -7.38388515e+01] [-9.17177044e-01 2.57664260e-03 3.98471619e-01 -2.15149258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-73.83, Z:-21.54 [[ 3.15066075e-01 -5.98460015e-01 7.36599606e-01 1.49991921e+02] [ 2.41701155e-01 8.01133552e-01 5.47508524e-01 -7.38330046e+01] [-9.17776618e-01 5.53561393e-03 3.97058480e-01 -2.15446669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:-73.83, Z:-21.57 [[ 3.14281728e-01 -6.05729784e-01 7.30970878e-01 1.50007490e+02] [ 2.42589627e-01 7.95665188e-01 5.55038000e-01 -7.38287514e+01] [-9.17811129e-01 2.88765144e-03 3.97006792e-01 -2.15730608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:-73.82, Z:-21.60 [[ 3.14263478e-01 -6.08760853e-01 7.28456375e-01 1.50021040e+02] [ 2.43291257e-01 7.93351609e-01 5.58034577e-01 -7.38230547e+01] [-9.17631642e-01 1.85718079e-03 3.97427629e-01 -2.16021461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-73.82, Z:-21.63 [[ 3.13027046e-01 -6.14528940e-01 7.24132758e-01 1.50038244e+02] [ 2.46076523e-01 7.88891935e-01 5.63112652e-01 -7.38184659e+01] [-9.17311514e-01 1.92258094e-03 3.98165657e-01 -2.16298995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19361786499996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:150.05, Y:-73.80, Z:-21.66 [[ 3.24990443e-01 -6.01606057e-01 7.29692651e-01 1.50053234e+02] [ 2.52598709e-01 7.98763491e-01 5.46050160e-01 -7.38049718e+01] [-9.11358933e-01 6.85833854e-03 4.11555414e-01 -2.16609068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.06, Y:-73.80, Z:-21.68 [[ 3.17497850e-01 -6.00935506e-01 7.33533662e-01 1.50062192e+02] [ 2.47392801e-01 7.99261604e-01 5.47702192e-01 -7.37986316e+01] [-9.15418985e-01 7.57667857e-03 4.02430959e-01 -2.16842711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.05, Y:-73.79, Z:-21.71 [[ 3.08296202e-01 -5.87299358e-01 7.48353470e-01 1.50045392e+02] [ 2.44970538e-01 8.09154552e-01 5.34095822e-01 -7.37947720e+01] [-9.19207750e-01 1.86648388e-02 3.93330315e-01 -2.17074733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28361786499997 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:150.09, Y:-73.79, Z:-21.73 [[ 3.14922523e-01 -6.22678801e-01 7.16306439e-01 1.50092671e+02] [ 2.57313103e-01 7.82456518e-01 5.67055345e-01 -7.37885248e+01] [-9.13571985e-01 5.73653269e-03 4.06636596e-01 -2.17312548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.08, Y:-73.78, Z:-21.76 [[ 3.06780722e-01 -6.08382191e-01 7.31954028e-01 1.50082067e+02] [ 2.56122240e-01 7.93438135e-01 5.52138864e-01 -7.37818238e+01] [-9.16671690e-01 1.80841464e-02 3.99231733e-01 -2.17620709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:-73.77, Z:-21.79 [[ 3.12418018e-01 -6.15468322e-01 7.23597765e-01 1.50108797e+02] [ 2.56461880e-01 7.88088331e-01 5.59592787e-01 -7.37749600e+01] [-9.14670589e-01 1.07483736e-02 4.04057158e-01 -2.17882512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.09, Y:-73.76, Z:-21.82 [[ 3.07508190e-01 -5.94077630e-01 7.43310488e-01 1.50092853e+02] [ 2.56650509e-01 8.03993109e-01 5.36400594e-01 -7.37633332e+01] [-9.16280104e-01 2.58234396e-02 3.99704792e-01 -2.18239022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.13, Y:-73.76, Z:-21.85 [[ 3.12379584e-01 -6.13929758e-01 7.24920167e-01 1.50129036e+02] [ 2.56180751e-01 7.89278486e-01 5.58042018e-01 -7.37604652e+01] [-9.14762493e-01 1.13896596e-02 4.03831472e-01 -2.18478720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:-73.75, Z:-21.89 [[ 3.08909742e-01 -5.78351954e-01 7.55038932e-01 1.50100538e+02] [ 2.56924224e-01 8.15095543e-01 5.19239058e-01 -7.37473591e+01] [-9.15731792e-01 3.35897880e-02 4.00383581e-01 -2.18855051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.12, Y:-73.74, Z:-21.91 [[ 3.14664835e-01 -5.89575688e-01 7.43899556e-01 1.50121513e+02] [ 2.66040918e-01 8.07077265e-01 5.27113383e-01 -7.37379184e+01] [-9.11157655e-01 3.20436750e-02 4.10810092e-01 -2.19107625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.13, Y:-73.73, Z:-21.93 [[ 3.09708749e-01 -5.95647818e-01 7.41137077e-01 1.50134387e+02] [ 2.60650684e-01 8.02788814e-01 5.36275434e-01 -7.37345769e+01] [-9.14407848e-01 2.70886926e-02 4.03886730e-01 -2.19319246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.16, Y:-73.74, Z:-21.95 [[ 3.06864766e-01 -6.15012822e-01 7.26356141e-01 1.50158346e+02] [ 2.51350128e-01 7.88449887e-01 5.61399937e-01 -7.37359408e+01] [-9.17963577e-01 1.02958487e-02 3.96531041e-01 -2.19451828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:-73.73, Z:-21.96 [[ 3.06577532e-01 -6.26161230e-01 7.16890738e-01 1.50176212e+02] [ 2.46275532e-01 7.79693600e-01 5.75696319e-01 -7.37336815e+01] [-9.19433837e-01 5.70912459e-05 3.93244729e-01 -2.19648647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.18, Y:-73.72, Z:-22.00 [[ 3.10037444e-01 -6.14945791e-01 7.25064450e-01 1.50180981e+02] [ 2.47013633e-01 7.88556565e-01 5.63172095e-01 -7.37208870e+01] [-9.18074642e-01 4.49636666e-03 3.96382056e-01 -2.19991237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:-73.71, Z:-22.03 [[ 3.12736545e-01 -5.93425738e-01 7.41647994e-01 1.50173409e+02] [ 2.45977761e-01 8.04775786e-01 5.40213731e-01 -7.37080671e+01] [-9.17437079e-01 1.34843374e-02 3.97652333e-01 -2.20292236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.20, Y:-73.71, Z:-22.06 [[ 3.11694682e-01 -6.13995193e-01 7.25159519e-01 1.50202104e+02] [ 2.44295629e-01 7.89308194e-01 5.63304731e-01 -7.37055825e+01] [-9.18240748e-01 1.57421167e-03 3.96019509e-01 -2.20576853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-73.69, Z:-22.09 [[ 3.14324686e-01 -5.88231514e-01 7.45106487e-01 1.50192440e+02] [ 2.43310791e-01 8.08589583e-01 5.35707705e-01 -7.36906805e+01] [-9.17605498e-01 1.29062923e-02 3.97282742e-01 -2.20919434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.21, Y:-73.68, Z:-22.12 [[ 3.16121531e-01 -5.94192431e-01 7.39596196e-01 1.50210524e+02] [ 2.41822366e-01 8.04290170e-01 5.42806840e-01 -7.36838798e+01] [-9.17381666e-01 7.25797236e-03 3.97942459e-01 -2.21208373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:-73.67, Z:-22.15 [[ 3.15565811e-01 -5.79815578e-01 7.51153856e-01 1.50207912e+02] [ 2.40873161e-01 8.14619841e-01 5.27612202e-01 -7.36722811e+01] [-9.17822608e-01 1.44364311e-02 3.96728182e-01 -2.21541815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-73.67, Z:-22.18 [[ 3.15808022e-01 -5.83556080e-01 7.48149447e-01 1.50220714e+02] [ 2.39653542e-01 8.11995249e-01 5.32193475e-01 -7.36664953e+01] [-9.18058535e-01 1.12256964e-02 3.96285895e-01 -2.21841575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:-73.66, Z:-22.21 [[ 3.19016716e-01 -5.89314154e-01 7.42251415e-01 1.50238020e+02] [ 2.39140905e-01 8.07884096e-01 5.38641731e-01 -7.36604765e+01] [-9.17082310e-01 5.66695902e-03 3.98657651e-01 -2.22126202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.25, Y:-73.65, Z:-22.24 [[ 3.22502670e-01 -5.81621931e-01 7.46798472e-01 1.50247633e+02] [ 2.39490954e-01 8.13420899e-01 5.30085393e-01 -7.36486289e+01] [-9.15770774e-01 7.89752390e-03 4.01623602e-01 -2.22396886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:-73.64, Z:-22.28 [[ 3.25424826e-01 -5.65808568e-01 7.57601048e-01 1.50243108e+02] [ 2.41278507e-01 8.24378218e-01 5.12040267e-01 -7.36383298e+01] [-9.14266572e-01 1.61622346e-02 4.04790584e-01 -2.22767743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-73.64, Z:-22.30 [[ 3.22508922e-01 -5.88060019e-01 7.41736752e-01 1.50273278e+02] [ 2.38759178e-01 8.08808493e-01 5.37422437e-01 -7.36357449e+01] [-9.15959634e-01 3.77292609e-03 4.01252682e-01 -2.22968155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.27, Y:-73.63, Z:-22.33 [[ 3.20103684e-01 -5.76230372e-01 7.51992148e-01 1.50271016e+02] [ 2.37682824e-01 8.17217666e-01 5.25035392e-01 -7.36273440e+01] [-9.17082606e-01 1.06698541e-02 3.98554448e-01 -2.23325932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-73.61, Z:-22.36 [[ 3.23362577e-01 -5.60847031e-01 7.62159597e-01 1.50269955e+02] [ 2.42615122e-01 8.27646511e-01 5.06101922e-01 -7.36147016e+01] [-9.14644492e-01 2.12570217e-02 4.03699879e-01 -2.23645949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97361786499997 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:150.29, Y:-73.61, Z:-22.38 [[ 3.20773469e-01 -5.73389749e-01 7.53875704e-01 1.50289188e+02] [ 2.40023772e-01 8.19165636e-01 5.20918659e-01 -7.36137363e+01] [-9.16238490e-01 1.38512049e-02 4.00393773e-01 -2.23847806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.31, Y:-73.61, Z:-22.41 [[ 3.15003944e-01 -5.92386555e-01 7.41519174e-01 1.50310406e+02] [ 2.40972396e-01 8.05612161e-01 5.41222090e-01 -7.36134257e+01] [-9.17989553e-01 8.19855892e-03 3.96519816e-01 -2.24072287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:-73.60, Z:-22.44 [[ 3.13694306e-01 -5.81004496e-01 7.51019080e-01 1.50310282e+02] [ 2.42855966e-01 8.13728299e-01 5.28078816e-01 -7.36034017e+01] [-9.17941644e-01 1.67341469e-02 3.96362342e-01 -2.24358653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.30, Y:-73.59, Z:-22.47 [[ 3.16829075e-01 -5.62707591e-01 7.63530945e-01 1.50302800e+02] [ 2.49455002e-01 8.26097921e-01 5.05306270e-01 -7.35927001e+01] [-9.15091001e-01 3.03708952e-02 4.02102063e-01 -2.24715478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:-73.59, Z:-22.49 [[ 3.10758612e-01 -5.89741622e-01 7.45408549e-01 1.50334600e+02] [ 2.46298882e-01 8.07413241e-01 5.36116330e-01 -7.35933130e+01] [-9.18022846e-01 1.69905257e-02 3.96163320e-01 -2.24873348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.33, Y:-73.59, Z:-22.52 [[ 3.05547200e-01 -5.81958606e-01 7.53634586e-01 1.50332893e+02] [ 2.50096318e-01 8.12746517e-01 5.26208068e-01 -7.35862364e+01] [-9.18745199e-01 2.76998337e-02 3.93878127e-01 -2.25209014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-73.58, Z:-22.55 [[ 3.05020480e-01 -5.81401181e-01 7.54277916e-01 1.50341130e+02] [ 2.51335837e-01 8.13085203e-01 5.25093087e-01 -7.35798630e+01] [-9.18581953e-01 2.94129258e-02 3.94134591e-01 -2.25489509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:-73.58, Z:-22.58 [[ 3.02889316e-01 -5.94423229e-01 7.44928914e-01 1.50362116e+02] [ 2.52599795e-01 8.03763240e-01 5.38663158e-01 -7.35759563e+01] [-9.18940371e-01 2.50135759e-02 3.93602484e-01 -2.25781429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:-73.57, Z:-22.61 [[ 3.00275641e-01 -5.84316732e-01 7.53928708e-01 1.50362310e+02] [ 2.55244952e-01 8.10801754e-01 5.26735731e-01 -7.35652593e+01] [-9.19067220e-01 3.42705877e-02 3.92607912e-01 -2.26100326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:-73.56, Z:-22.63 [[ 3.04315020e-01 -5.99055910e-01 7.40624322e-01 1.50392090e+02] [ 2.55871417e-01 8.00332281e-01 5.42215878e-01 -7.35602361e+01] [-9.17563179e-01 2.45001590e-02 3.96834418e-01 -2.26325329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.39, Y:-73.55, Z:-22.66 [[ 3.04439123e-01 -5.85782487e-01 7.51116302e-01 1.50392246e+02] [ 2.57248151e-01 8.09808530e-01 5.27288852e-01 -7.35487513e+01] [-9.17136963e-01 3.26959237e-02 3.97228860e-01 -2.26647907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:150.40, Y:-73.54, Z:-22.69 [[ 3.05237203e-01 -5.79634003e-01 7.55549252e-01 1.50397132e+02] [ 2.58660091e-01 8.14049993e-01 5.20016891e-01 -7.35408408e+01] [-9.16474335e-01 3.67019374e-02 3.98406527e-01 -2.26921777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.41, Y:-73.54, Z:-22.72 [[ 3.00331442e-01 -5.93704313e-01 7.46536144e-01 1.50411805e+02] [ 2.58880479e-01 8.04026585e-01 5.35277637e-01 -7.35396406e+01] [-9.18031548e-01 3.25029294e-02 3.95172920e-01 -2.27188263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.42, Y:-73.53, Z:-22.75 [[ 3.00323012e-01 -5.88998056e-01 7.50258208e-01 1.50418130e+02] [ 2.57556652e-01 8.07426111e-01 5.30780224e-01 -7.35314925e+01] [-9.18406587e-01 3.38284766e-02 3.94189009e-01 -2.27474792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:-73.53, Z:-22.78 [[ 3.01692645e-01 -5.96638760e-01 7.43642211e-01 1.50437402e+02] [ 2.56314021e-01 8.02026751e-01 5.39496259e-01 -7.35254642e+01] [-9.18305325e-01 2.78438715e-02 3.94892451e-01 -2.27765059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:-73.51, Z:-22.81 [[ 3.01908356e-01 -5.78309059e-01 7.57898395e-01 1.50432385e+02] [ 2.54637304e-01 8.15029452e-01 5.20467900e-01 -7.35130762e+01] [-9.18700815e-01 3.58555959e-02 3.93323262e-01 -2.28099994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:-73.51, Z:-22.83 [[ 3.06180070e-01 -5.88049324e-01 7.48633259e-01 1.50456492e+02] [ 2.52753233e-01 8.08392514e-01 5.31617670e-01 -7.35063069e+01] [-9.17806934e-01 2.64487410e-02 3.96145044e-01 -2.28330956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499996 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:150.45, Y:-73.49, Z:-22.86 [[ 3.12876353e-01 -5.67300523e-01 7.61760135e-01 1.50451165e+02] [ 2.48260269e-01 8.22991014e-01 5.10933097e-01 -7.34942407e+01] [-9.16774359e-01 2.92558922e-02 3.98332608e-01 -2.28599942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:-73.50, Z:-22.88 [[ 3.08125195e-01 -6.09803421e-01 7.30204528e-01 1.50489335e+02] [ 2.45763246e-01 7.92517392e-01 5.58136731e-01 -7.35006803e+01] [-9.19053476e-01 7.48144524e-03 3.94061844e-01 -2.28848625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:-73.48, Z:-22.92 [[ 3.10605703e-01 -5.76512408e-01 7.55749655e-01 1.50475068e+02] [ 2.44308213e-01 8.16784206e-01 5.22663427e-01 -7.34829241e+01] [-9.18606332e-01 2.22936068e-02 3.94544549e-01 -2.29216235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.49, Y:-73.48, Z:-22.95 [[ 3.13776172e-01 -5.75527959e-01 7.55190096e-01 1.50485090e+02] [ 2.40542765e-01 8.17594712e-01 5.23142491e-01 -7.34758833e+01] [-9.18522559e-01 1.75058658e-02 3.94980826e-01 -2.29497559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:-73.47, Z:-22.98 [[ 3.15163509e-01 -5.72994547e-01 7.56537648e-01 1.50493783e+02] [ 2.38951158e-01 8.19391903e-01 5.21055902e-01 -7.34683617e+01] [-9.18463013e-01 1.65577404e-02 3.95160138e-01 -2.29796705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:-73.46, Z:-23.01 [[ 3.16413690e-01 -5.68125305e-01 7.59681522e-01 1.50499095e+02] [ 2.36256359e-01 8.22788058e-01 5.16916574e-01 -7.34607768e+01] [-9.18730270e-01 1.59201100e-02 3.94564622e-01 -2.30094781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.51, Y:-73.45, Z:-23.04 [[ 3.19855475e-01 -5.68813219e-01 7.57722903e-01 1.50510564e+02] [ 2.36062284e-01 8.22359432e-01 5.17686742e-01 -7.34544730e+01] [-9.17587638e-01 1.32848606e-02 3.97311514e-01 -2.30369565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.53, Y:-73.45, Z:-23.06 [[ 3.20025564e-01 -5.77553464e-01 7.51009743e-01 1.50527790e+02] [ 2.36084186e-01 8.16307622e-01 5.27168022e-01 -7.34500380e+01] [-9.17522695e-01 8.59428044e-03 3.97590546e-01 -2.30645815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72361786499997 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:150.52, Y:-73.44, Z:-23.10 [[ 3.19523995e-01 -5.53420839e-01 7.69174747e-01 1.50516253e+02] [ 2.34401185e-01 8.32662061e-01 5.01726994e-01 -7.34387913e+01] [-9.18128804e-01 1.99816580e-02 3.95778009e-01 -2.30964719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:-73.44, Z:-23.12 [[ 3.17878991e-01 -6.00281812e-01 7.33903736e-01 1.50563169e+02] [ 2.35105536e-01 7.99782822e-01 5.52333979e-01 -7.34436275e+01] [-9.18519643e-01 -3.03053646e-03 3.95363733e-01 -2.31150527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.55, Y:-73.43, Z:-23.15 [[ 3.21605951e-01 -5.71464778e-01 7.54981867e-01 1.50554016e+02] [ 2.36909858e-01 8.20544999e-01 5.20172686e-01 -7.34268919e+01] [-9.16756964e-01 1.15720155e-02 3.99277794e-01 -2.31477345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:-73.42, Z:-23.18 [[ 3.20759014e-01 -5.69589238e-01 7.56757395e-01 1.50560448e+02] [ 2.36580021e-01 8.21830023e-01 5.18290756e-01 -7.34200082e+01] [-9.17138784e-01 1.27872485e-02 3.98362821e-01 -2.31751588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:-73.42, Z:-23.20 [[ 3.17993848e-01 -5.92087334e-01 7.40481263e-01 1.50589714e+02] [ 2.37333073e-01 8.05867270e-01 5.42449035e-01 -7.34193837e+01] [-9.17906817e-01 3.24523731e-03 3.96782741e-01 -2.32026030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:-73.41, Z:-23.23 [[ 3.16666952e-01 -5.71780665e-01 7.56828192e-01 1.50582984e+02] [ 2.40103923e-01 8.20224110e-01 5.19213362e-01 -7.34060706e+01] [-9.17644892e-01 1.72997048e-02 3.97024650e-01 -2.32334268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.59, Y:-73.40, Z:-23.26 [[ 3.15388999e-01 -5.74086451e-01 7.55615330e-01 1.50592402e+02] [ 2.41293741e-01 8.18598199e-01 5.21223866e-01 -7.34010575e+01] [-9.17772908e-01 1.79369769e-02 3.96700334e-01 -2.32586226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.61, Y:-73.40, Z:-23.28 [[ 3.15533379e-01 -5.78751321e-01 7.51987763e-01 1.50606424e+02] [ 2.43002899e-01 8.15328725e-01 5.25536545e-01 -7.33956105e+01] [-9.17272194e-01 1.69108843e-02 3.97901677e-01 -2.32844589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.61, Y:-73.39, Z:-23.31 [[ 3.14469804e-01 -5.76418751e-01 7.54221563e-01 1.50612773e+02] [ 2.44428086e-01 8.16907973e-01 5.22413891e-01 -7.33887864e+01] [-9.17258771e-01 2.00695391e-02 3.97785822e-01 -2.33098280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-73.38, Z:-23.33 [[ 3.13690679e-01 -5.81999229e-01 7.50249996e-01 1.50626782e+02] [ 2.47676595e-01 8.12931314e-01 5.27066393e-01 -7.33838312e+01] [-9.16653949e-01 2.04835501e-02 3.99156563e-01 -2.33340697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:-73.37, Z:-23.36 [[ 3.16920217e-01 -5.65472687e-01 7.61447448e-01 1.50623345e+02] [ 2.53230730e-01 8.24135851e-01 5.06630336e-01 -7.33715376e+01] [-9.14021757e-01 3.22604972e-02 4.04380374e-01 -2.33645406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-73.37, Z:-23.38 [[ 3.10829686e-01 -5.98346438e-01 7.38489300e-01 1.50659492e+02] [ 2.53631086e-01 8.01017980e-01 5.42255906e-01 -7.33749214e+01] [-9.16000097e-01 1.87546106e-02 4.00739425e-01 -2.33822233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.66, Y:-73.36, Z:-23.41 [[ 3.16049589e-01 -5.76762905e-01 7.53297557e-01 1.50657070e+02] [ 2.57315271e-01 8.16345278e-01 5.17077594e-01 -7.33600785e+01] [-9.13182079e-01 3.04128039e-02 4.06415493e-01 -2.34103535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.67, Y:-73.36, Z:-23.44 [[ 3.14955650e-01 -5.81524698e-01 7.50087971e-01 1.50666004e+02] [ 2.60044532e-01 8.12939997e-01 5.21061804e-01 -7.33565700e+01] [-9.12786821e-01 3.09449166e-02 4.07262363e-01 -2.34364005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-73.36, Z:-23.46 [[ 3.10249320e-01 -6.01774069e-01 7.35943836e-01 1.50691089e+02] [ 2.58594428e-01 7.98374368e-01 5.43808137e-01 -7.33572445e+01] [-9.14808330e-01 2.15948705e-02 4.03310526e-01 -2.34565234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-73.35, Z:-23.48 [[ 3.10174966e-01 -6.06266341e-01 7.32279055e-01 1.50709534e+02] [ 2.59435196e-01 7.95012510e-01 5.48314224e-01 -7.33487791e+01] [-9.14595468e-01 1.99056140e-02 4.03879806e-01 -2.34801077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:-73.34, Z:-23.51 [[ 3.08628133e-01 -5.83593236e-01 7.51110917e-01 1.50697959e+02] [ 2.58180998e-01 8.11411823e-01 5.24360016e-01 -7.33364410e+01] [-9.15473237e-01 3.20903138e-02 4.01097200e-01 -2.35146237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-73.33, Z:-23.54 [[ 3.08592596e-01 -5.89952608e-01 7.46141092e-01 1.50713411e+02] [ 2.56958939e-01 8.06965087e-01 5.31770112e-01 -7.33306548e+01] [-9.15828976e-01 2.76273043e-02 4.00617047e-01 -2.35436633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-73.32, Z:-23.58 [[ 3.12237127e-01 -5.72381367e-01 7.58213392e-01 1.50710054e+02] [ 2.59797670e-01 8.19138387e-01 5.11387791e-01 -7.33174524e+01] [-9.13790538e-01 3.73078174e-02 4.04468762e-01 -2.35777849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:-73.31, Z:-23.60 [[ 3.11099359e-01 -5.85379911e-01 7.48697235e-01 1.50730451e+02] [ 2.56723706e-01 8.10264793e-01 5.26843340e-01 -7.33149353e+01] [-9.15046517e-01 2.83077037e-02 4.02353758e-01 -2.36020595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.74, Y:-73.31, Z:-23.63 [[ 3.12403138e-01 -5.86149475e-01 7.47551385e-01 1.50744553e+02] [ 2.53256480e-01 8.09847051e-01 5.29158681e-01 -7.33080843e+01] [-9.15568367e-01 2.40113995e-02 4.01444912e-01 -2.36321083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:-73.30, Z:-23.66 [[ 3.14008302e-01 -5.79440658e-01 7.52095279e-01 1.50751732e+02] [ 2.51969147e-01 8.14616542e-01 5.22409264e-01 -7.32983656e+01] [-9.15374423e-01 2.54639601e-02 4.01797526e-01 -2.36629834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.76, Y:-73.29, Z:-23.69 [[ 3.16039501e-01 -5.77305475e-01 7.52886061e-01 1.50762397e+02] [ 2.50486300e-01 8.16174588e-01 5.20687675e-01 -7.32900609e+01] [-9.15082317e-01 2.40297705e-02 4.02550522e-01 -2.36931849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:-73.28, Z:-23.72 [[ 3.20944464e-01 -5.76988494e-01 7.51051882e-01 1.50777110e+02] [ 2.48009101e-01 8.16532284e-01 5.21312301e-01 -7.32803503e+01] [-9.14049308e-01 1.89554053e-02 4.05159914e-01 -2.37181186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-73.28, Z:-23.75 [[ 3.20246637e-01 -5.79800463e-01 7.49181897e-01 1.50786231e+02] [ 2.45484748e-01 8.14608703e-01 5.25499667e-01 -7.32769364e+01] [-9.14975043e-01 1.56232286e-02 4.03207868e-01 -2.37455617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.79, Y:-73.27, Z:-23.78 [[ 3.20777332e-01 -5.73233250e-01 7.53993066e-01 1.50792157e+02] [ 2.43724079e-01 8.19210806e-01 5.19126409e-01 -7.32678296e+01] [-9.15259786e-01 1.72422814e-02 4.02495003e-01 -2.37775783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:-73.26, Z:-23.81 [[ 3.21974436e-01 -5.69240606e-01 7.56503533e-01 1.50799412e+02] [ 2.40544772e-01 8.22019495e-01 5.16160985e-01 -7.32602948e+01] [-9.15680444e-01 1.57823276e-02 4.01597115e-01 -2.38064449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:-73.25, Z:-23.83 [[ 3.25534758e-01 -5.78142393e-01 7.48183463e-01 1.50820206e+02] [ 2.39457423e-01 8.15898262e-01 5.26279554e-01 -7.32547732e+01] [-9.14706108e-01 7.83579695e-03 4.04043731e-01 -2.38263290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:-73.24, Z:-23.86 [[ 3.19462960e-01 -5.62265228e-01 7.62758960e-01 1.50808123e+02] [ 2.37449165e-01 8.26756810e-01 5.09991247e-01 -7.32447541e+01] [-9.17366509e-01 1.81931643e-02 3.97627586e-01 -2.38627072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:-73.25, Z:-23.89 [[ 3.22873675e-01 -5.87627008e-01 7.41921215e-01 1.50840320e+02] [ 2.37180164e-01 8.09128444e-01 5.37639964e-01 -7.32450707e+01] [-9.16241322e-01 2.37920456e-03 4.00619744e-01 -2.38875243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-73.24, Z:-23.92 [[ 3.24921807e-01 -5.79982061e-01 7.47025186e-01 1.50846774e+02] [ 2.35189224e-01 8.14622028e-01 5.30166937e-01 -7.32351264e+01] [-9.16030485e-01 3.42947430e-03 4.01093992e-01 -2.39193177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:-73.23, Z:-23.94 [[ 3.25933860e-01 -5.80085530e-01 7.46503782e-01 1.50857453e+02] [ 2.32676951e-01 8.14555417e-01 5.31376429e-01 -7.32287402e+01] [-9.16312477e-01 5.00653146e-04 4.00463723e-01 -2.39440220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:-73.22, Z:-23.97 [[ 3.30961557e-01 -5.97736083e-01 7.30189032e-01 1.50890802e+02] [ 2.34329322e-01 8.01618522e-01 5.49997740e-01 -7.32244946e+01] [-9.14086547e-01 -1.09234075e-02 4.05372006e-01 -2.39671658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.87, Y:-73.21, Z:-24.00 [[ 3.29572327e-01 -5.66916195e-01 7.54975569e-01 1.50871664e+02] [ 2.37289425e-01 8.23721457e-01 5.14953095e-01 -7.32083291e+01] [-9.13824825e-01 9.43342849e-03 4.05999015e-01 -2.40026543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.87, Y:-73.20, Z:-24.03 [[ 3.29162784e-01 -5.59864674e-01 7.60396875e-01 1.50873691e+02] [ 2.39360946e-01 8.28442091e-01 5.06349721e-01 -7.31993431e+01] [-9.13432099e-01 1.53378315e-02 4.06702043e-01 -2.40324835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.88, Y:-73.19, Z:-24.06 [[ 3.29495163e-01 -5.58543212e-01 7.61224289e-01 1.50881126e+02] [ 2.40837901e-01 8.29297379e-01 5.04244943e-01 -7.31921491e+01] [-9.12923898e-01 1.71853908e-02 4.07767850e-01 -2.40597032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.90, Y:-73.19, Z:-24.08 [[ 3.29051888e-01 -5.69790074e-01 7.53036604e-01 1.50901261e+02] [ 2.38467656e-01 8.21738031e-01 5.17571044e-01 -7.31886920e+01] [-9.13705659e-01 9.26714483e-03 4.06270954e-01 -2.40839484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:-73.19, Z:-24.10 [[ 3.31419243e-01 -5.91009638e-01 7.35437892e-01 1.50932892e+02] [ 2.38754928e-01 8.06656497e-01 5.40649035e-01 -7.31854051e+01] [-9.12774545e-01 -3.59207280e-03 4.08447949e-01 -2.41006172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:-73.17, Z:-24.14 [[ 3.31109390e-01 -5.59272378e-01 7.59987487e-01 1.50912820e+02] [ 2.41275080e-01 8.28825302e-01 5.04811802e-01 -7.31708789e+01] [-9.12224154e-01 1.62181139e-02 4.09370327e-01 -2.41395723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:-73.17, Z:-24.16 [[ 3.26528113e-01 -5.95648118e-01 7.33881946e-01 1.50952160e+02] [ 2.37968854e-01 8.03237140e-01 5.46059448e-01 -7.31743016e+01] [-9.14740518e-01 -3.66271595e-03 4.04025208e-01 -2.41620295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.94, Y:-73.16, Z:-24.20 [[ 3.28510743e-01 -5.66416708e-01 7.55812679e-01 1.50939928e+02] [ 2.41275005e-01 8.24000949e-01 5.12648815e-01 -7.31575088e+01] [-9.13163219e-01 1.39480649e-02 4.07355358e-01 -2.41983245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:-73.15, Z:-24.22 [[ 3.27852347e-01 -5.82035637e-01 7.44142027e-01 1.50963607e+02] [ 2.39748095e-01 8.13150721e-01 5.30383593e-01 -7.31537015e+01] [-9.13801778e-01 4.51912805e-03 4.06135307e-01 -2.42219850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:-73.14, Z:-24.25 [[ 3.26475853e-01 -5.73487367e-01 7.51349292e-01 1.50966301e+02] [ 2.39287873e-01 8.19158071e-01 5.21268998e-01 -7.31433609e+01] [-9.14415021e-01 9.60703354e-03 4.04663902e-01 -2.42536146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:-73.14, Z:-24.28 [[ 3.29109874e-01 -5.74750133e-01 7.49232257e-01 1.50979189e+02] [ 2.40401284e-01 8.18287066e-01 5.22124027e-01 -7.31361454e+01] [-9.13177920e-01 8.28022409e-03 4.07477024e-01 -2.42826025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.00, Y:-73.13, Z:-24.31 [[ 3.32004771e-01 -5.80045221e-01 7.43855075e-01 1.50997953e+02] [ 2.41574133e-01 8.14571242e-01 5.27366694e-01 -7.31269208e+01] [-9.11819483e-01 4.60788668e-03 4.10565461e-01 -2.43055941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:-73.12, Z:-24.34 [[ 3.32269302e-01 -5.76308189e-01 7.46636446e-01 1.51005742e+02] [ 2.40933351e-01 8.17210961e-01 5.23562189e-01 -7.31168034e+01] [-9.11892664e-01 5.92597757e-03 4.10385979e-01 -2.43359510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:-73.11, Z:-24.37 [[ 3.30912165e-01 -5.74246699e-01 7.48824324e-01 1.51012917e+02] [ 2.39400584e-01 8.18656260e-01 5.22005065e-01 -7.31104586e+01] [-9.12789406e-01 6.53115431e-03 4.08378310e-01 -2.43702973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.01, Y:-73.10, Z:-24.40 [[ 3.30770548e-01 -5.61427408e-01 7.58544732e-01 1.51011941e+02] [ 2.39217672e-01 8.27417553e-01 5.08089656e-01 -7.30984667e+01] [-9.12888684e-01 1.33962115e-02 4.07988715e-01 -2.44012011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.03, Y:-73.09, Z:-24.43 [[ 3.30861088e-01 -5.64710314e-01 7.56064284e-01 1.51025325e+02] [ 2.39080009e-01 8.25209799e-01 5.11731900e-01 -7.30911423e+01] [-9.12891938e-01 1.14476833e-02 4.08040759e-01 -2.44310691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.04, Y:-73.08, Z:-24.46 [[ 3.31984629e-01 -5.67583193e-01 7.53415905e-01 1.51039387e+02] [ 2.39297786e-01 8.23262398e-01 5.14757800e-01 -7.30836932e+01] [-9.12426861e-01 9.39908058e-03 4.09131863e-01 -2.44595847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22361786499997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:151.04, Y:-73.07, Z:-24.49 [[ 3.30508460e-01 -5.62333207e-01 7.57987812e-01 1.51044029e+02] [ 2.37612604e-01 8.26829158e-01 5.09797797e-01 -7.30746495e+01] [-9.13402654e-01 1.16149734e-02 4.06891489e-01 -2.44891732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.06, Y:-73.07, Z:-24.52 [[ 3.31723530e-01 -5.69113916e-01 7.52375471e-01 1.51058707e+02] [ 2.38698139e-01 8.22217915e-01 5.16701944e-01 -7.30674587e+01] [-9.12678858e-01 8.18843219e-03 4.08595462e-01 -2.45182597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.07, Y:-73.06, Z:-24.54 [[ 3.31470560e-01 -5.72311697e-01 7.50057724e-01 1.51071407e+02] [ 2.36319017e-01 8.20023988e-01 5.21261912e-01 -7.30609703e+01] [-9.13389616e-01 4.46992577e-03 4.07061948e-01 -2.45446644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:-73.05, Z:-24.57 [[ 3.35487579e-01 -5.77103380e-01 7.44580266e-01 1.51088299e+02] [ 2.39122436e-01 8.16669038e-01 5.25235321e-01 -7.30525977e+01] [-9.11190729e-01 1.83592088e-03 4.11980685e-01 -2.45667758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34361786499997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.09, Y:-73.05, Z:-24.60 [[ 3.32960372e-01 -5.73140185e-01 7.48764128e-01 1.51093563e+02] [ 2.36171461e-01 8.19452007e-01 5.22227392e-01 -7.30452589e+01] [-9.12885772e-01 2.95569074e-03 4.08204400e-01 -2.45991110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37361786499997 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:151.09, Y:-73.04, Z:-24.63 [[ 3.27915102e-01 -5.67444229e-01 7.55300425e-01 1.51093043e+02] [ 2.33622081e-01 8.23383188e-01 5.17166172e-01 -7.30390526e+01] [-9.15364632e-01 6.86825877e-03 4.02567283e-01 -2.46267983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:-73.03, Z:-24.65 [[ 3.32133083e-01 -5.79053234e-01 7.44570324e-01 1.51114544e+02] [ 2.38821907e-01 8.15285544e-01 5.27516424e-01 -7.30313993e+01] [-9.12497513e-01 2.61404888e-03 4.09073899e-01 -2.46507215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.12, Y:-73.02, Z:-24.68 [[ 3.31648374e-01 -5.75655031e-01 7.47415976e-01 1.51122298e+02] [ 2.37881944e-01 8.17683167e-01 5.24219820e-01 -7.30219000e+01] [-9.12919239e-01 3.94011431e-03 4.08121231e-01 -2.46784620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-73.01, Z:-24.71 [[ 3.34012397e-01 -5.74767050e-01 7.47046556e-01 1.51135433e+02] [ 2.38184319e-01 8.18310772e-01 5.23102007e-01 -7.30129144e+01] [-9.11978042e-01 3.21221997e-03 4.10226441e-01 -2.47073142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-73.01, Z:-24.74 [[ 3.35617794e-01 -5.73211661e-01 7.47521965e-01 1.51143860e+02] [ 2.38866782e-01 8.19399108e-01 5.21083258e-01 -7.30052562e+01] [-9.11209831e-01 3.67335274e-03 4.11926146e-01 -2.47367746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-73.00, Z:-24.76 [[ 3.35927127e-01 -5.79036748e-01 7.42879135e-01 1.51160433e+02] [ 2.41151365e-01 8.15298194e-01 5.26436012e-01 -7.29956440e+01] [-9.10493814e-01 2.30218059e-03 4.13516282e-01 -2.47643988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-73.00, Z:-24.78 [[ 3.51518109e-01 -6.28488051e-01 6.93857182e-01 1.51235459e+02] [ 2.45292232e-01 7.77095442e-01 5.79615731e-01 -7.29954058e+01] [-9.03474814e-01 -3.35476491e-02 4.27326356e-01 -2.47827462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:-72.96, Z:-24.83 [[ 3.51952472e-01 -5.39132875e-01 7.65156978e-01 1.51180266e+02] [ 2.42471944e-01 8.42069484e-01 4.81794915e-01 -7.29619346e+01] [-9.04066819e-01 1.59601882e-02 4.27093033e-01 -2.48329530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:-72.95, Z:-24.87 [[ 3.53291209e-01 -5.10778902e-01 7.83766697e-01 1.51167156e+02] [ 2.41630523e-01 8.59187012e-01 4.51012604e-01 -7.29470023e+01] [-9.03769889e-01 3.00431691e-02 4.26962991e-01 -2.48665261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-72.94, Z:-24.89 [[ 3.43845152e-01 -5.11175673e-01 7.87699145e-01 1.51164463e+02] [ 2.39703537e-01 8.58836572e-01 4.52705155e-01 -7.29415704e+01] [-9.07916696e-01 3.31537981e-02 4.17837408e-01 -2.48908468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:-72.95, Z:-24.91 [[ 3.41230954e-01 -5.49622063e-01 7.62546408e-01 1.51197527e+02] [ 2.39592153e-01 8.35298713e-01 4.94845087e-01 -7.29485383e+01] [-9.08931810e-01 1.38436743e-02 4.16714911e-01 -2.49103149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:-72.95, Z:-24.93 [[ 3.42038098e-01 -5.64953438e-01 7.50891172e-01 1.51221549e+02] [ 2.40035227e-01 8.25105738e-01 5.11452452e-01 -7.29450994e+01] [-9.08511436e-01 5.30410963e-03 4.17826324e-01 -2.49338681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-72.94, Z:-24.97 [[ 3.41704157e-01 -5.61117917e-01 7.53913094e-01 1.51231324e+02] [ 2.40751092e-01 8.27694353e-01 5.06913178e-01 -7.29354569e+01] [-9.08447677e-01 8.29106009e-03 4.17916352e-01 -2.49657104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-72.92, Z:-25.00 [[ 3.45468277e-01 -5.40391432e-01 7.67221461e-01 1.51230959e+02] [ 2.40652828e-01 8.41234397e-01 4.84160000e-01 -7.29190522e+01] [-9.07048999e-01 1.73720932e-02 4.20666524e-01 -2.49965620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-72.91, Z:-25.02 [[ 3.42688532e-01 -5.30808735e-01 7.75117189e-01 1.51229906e+02] [ 2.39618633e-01 8.47173368e-01 4.74215346e-01 -7.29089011e+01] [-9.08376288e-01 2.32243605e-02 4.17508261e-01 -2.50243260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.25, Y:-72.91, Z:-25.05 [[ 3.41526609e-01 -5.44876276e-01 7.65812914e-01 1.51246399e+02] [ 2.40532332e-01 8.38341582e-01 4.89211190e-01 -7.29071945e+01] [-9.08572381e-01 1.71241272e-02 4.17376319e-01 -2.50492475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-72.90, Z:-25.08 [[ 3.37845585e-01 -5.34198352e-01 7.74914499e-01 1.51241173e+02] [ 2.40471072e-01 8.44990392e-01 4.77666098e-01 -7.28968640e+01] [-9.09963749e-01 2.49671379e-02 4.13935523e-01 -2.50777395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.26, Y:-72.90, Z:-25.10 [[ 3.37275967e-01 -5.53841616e-01 7.61251855e-01 1.51262742e+02] [ 2.40384945e-01 8.32493399e-01 4.99169128e-01 -7.28966840e+01] [-9.10197781e-01 1.46357350e-02 4.13915203e-01 -2.50969055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-72.88, Z:-25.13 [[ 3.30227684e-01 -5.31700672e-01 7.79900040e-01 1.51242034e+02] [ 2.40950699e-01 8.46362489e-01 4.74987683e-01 -7.28840102e+01] [-9.12629409e-01 3.10633773e-02 4.07605972e-01 -2.51314430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:-72.89, Z:-25.15 [[ 3.28372517e-01 -5.69101809e-01 7.53853183e-01 1.51275325e+02] [ 2.43059603e-01 8.22144601e-01 5.14781783e-01 -7.28881352e+01] [-9.12739568e-01 1.41910654e-02 4.08295352e-01 -2.51508314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:-72.89, Z:-25.17 [[ 3.28052503e-01 -5.83549836e-01 7.42866841e-01 1.51296819e+02] [ 2.43246706e-01 8.12049891e-01 5.30477157e-01 -7.28852168e+01] [-9.12804796e-01 6.67555304e-03 4.08341575e-01 -2.51728960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-72.87, Z:-25.20 [[ 3.25001898e-01 -5.68002050e-01 7.56139827e-01 1.51290230e+02] [ 2.47227352e-01 8.22769155e-01 5.11790537e-01 -7.28721477e+01] [-9.12826601e-01 2.06055517e-02 4.07827180e-01 -2.52038870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03361786499997 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:151.31, Y:-72.87, Z:-25.22 [[ 3.24836557e-01 -5.79871290e-01 7.47148244e-01 1.51309639e+02] [ 2.48305078e-01 8.14565761e-01 5.24239649e-01 -7.28677712e+01] [-9.12592899e-01 1.52285005e-02 4.08585723e-01 -2.52218119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-72.86, Z:-25.25 [[ 3.26867550e-01 -5.82937147e-01 7.43869536e-01 1.51322338e+02] [ 2.50446922e-01 8.12393578e-01 5.26586188e-01 -7.28619010e+01] [-9.11281485e-01 1.41758987e-02 4.11539912e-01 -2.52503903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:-72.86, Z:-25.27 [[ 3.23079042e-01 -5.88737524e-01 7.40950782e-01 1.51335206e+02] [ 2.49033122e-01 8.08233364e-01 5.33611594e-01 -7.28572247e+01] [-9.13018312e-01 1.21225640e-02 4.07738404e-01 -2.52749196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-72.85, Z:-25.31 [[ 3.20717959e-01 -5.91431290e-01 7.39830399e-01 1.51348108e+02] [ 2.52550670e-01 8.06211076e-01 5.35015757e-01 -7.28481252e+01] [-9.12884522e-01 1.52555014e-02 4.07932739e-01 -2.53065455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:-72.83, Z:-25.34 [[ 3.20313724e-01 -5.69410418e-01 7.57080507e-01 1.51341397e+02] [ 2.52181038e-01 8.21604503e-01 5.11244329e-01 -7.28331813e+01] [-9.13128601e-01 2.71627737e-02 4.06765708e-01 -2.53368655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:-72.83, Z:-25.36 [[ 3.18464010e-01 -5.84441351e-01 7.46330343e-01 1.51360325e+02] [ 2.52360663e-01 8.11180946e-01 5.27541059e-01 -7.28302590e+01] [-9.13725763e-01 2.03415791e-02 4.05821944e-01 -2.53643320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21361786499997 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:151.36, Y:-72.81, Z:-25.39 [[ 3.22597724e-01 -5.72601717e-01 7.53696213e-01 1.51364946e+02] [ 2.59580151e-01 8.19258732e-01 5.11305463e-01 -7.28123161e+01] [-9.10246590e-01 3.06985984e-02 4.12927042e-01 -2.53912051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:-72.81, Z:-25.42 [[ 3.23316084e-01 -5.77843470e-01 7.49375496e-01 1.51375667e+02] [ 2.59023255e-01 8.15705000e-01 5.17235252e-01 -7.28086884e+01] [-9.10150352e-01 2.68752041e-02 4.13405442e-01 -2.54186086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:-72.80, Z:-25.45 [[ 3.21715613e-01 -5.89237108e-01 7.41146878e-01 1.51394153e+02] [ 2.57993277e-01 8.07696205e-01 5.30156872e-01 -7.28031304e+01] [-9.11009623e-01 2.06511692e-02 4.11867692e-01 -2.54462739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-72.79, Z:-25.47 [[ 3.25805571e-01 -5.93683760e-01 7.35792310e-01 1.51413860e+02] [ 2.56470757e-01 8.04573107e-01 5.35616343e-01 -7.27944546e+01] [-9.09985429e-01 1.42024226e-02 4.14396924e-01 -2.54714568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-72.78, Z:-25.51 [[ 3.24212614e-01 -5.81934847e-01 7.45813660e-01 1.51412727e+02] [ 2.54586619e-01 8.12987186e-01 5.23676893e-01 -7.27823533e+01] [-9.11082781e-01 2.00915241e-02 4.11733526e-01 -2.55058169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:-72.77, Z:-25.53 [[ 3.25340750e-01 -5.77228783e-01 7.48972849e-01 1.51418628e+02] [ 2.53266330e-01 8.16317522e-01 5.19116431e-01 -7.27710154e+01] [-9.11048606e-01 2.07998760e-02 4.11773970e-01 -2.55346797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:-72.76, Z:-25.56 [[ 3.27514238e-01 -5.74690779e-01 7.49976622e-01 1.51426241e+02] [ 2.53648986e-01 8.18096162e-01 5.16120976e-01 -7.27627939e+01] [-9.10162961e-01 2.11938418e-02 4.13707874e-01 -2.55633701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:-72.76, Z:-25.59 [[ 3.25426434e-01 -5.88205173e-01 7.40346075e-01 1.51448136e+02] [ 2.51054981e-01 8.08611825e-01 5.32088633e-01 -7.27582221e+01] [-9.11629877e-01 1.27118632e-02 4.10815501e-01 -2.55917131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:-72.75, Z:-25.62 [[ 3.29957309e-01 -5.73441446e-01 7.49862042e-01 1.51447959e+02] [ 2.51830818e-01 8.19032261e-01 5.15526328e-01 -7.27458014e+01] [-9.09785367e-01 1.87366916e-02 4.14655909e-01 -2.56211184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:-72.74, Z:-25.65 [[ 3.32516231e-01 -6.06698047e-01 7.22046007e-01 1.51492308e+02] [ 2.49888280e-01 7.94925092e-01 5.52856171e-01 -7.27444135e+01] [-9.09389248e-01 -3.40281486e-03 4.15932227e-01 -2.56451254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:-72.72, Z:-25.68 [[ 3.34460267e-01 -5.66301514e-01 7.53285421e-01 1.51476260e+02] [ 2.50140122e-01 8.23992986e-01 5.08395002e-01 -7.27217075e+01] [-9.08606763e-01 1.83889789e-02 4.17247643e-01 -2.56824622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:-72.71, Z:-25.72 [[ 3.41069704e-01 -5.46883061e-01 7.64585100e-01 1.51475244e+02] [ 2.53498136e-01 8.36731784e-01 4.85405621e-01 -7.27062571e+01] [-9.05212766e-01 2.82637460e-02 4.24017698e-01 -2.57167591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-72.70, Z:-25.74 [[ 3.38850748e-01 -5.61719283e-01 7.54752686e-01 1.51500570e+02] [ 2.50229567e-01 8.27124629e-01 5.03239518e-01 -7.27017099e+01] [-9.06953877e-01 1.83383510e-02 4.20830572e-01 -2.57394052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-72.69, Z:-25.77 [[ 3.39840479e-01 -5.40039054e-01 7.69978096e-01 1.51495553e+02] [ 2.50871782e-01 8.41093750e-01 4.79191666e-01 -7.26871053e+01] [-9.06405979e-01 3.03170521e-02 4.21318263e-01 -2.57723184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.52, Y:-72.68, Z:-25.80 [[ 3.37406097e-01 -5.54150264e-01 7.60969520e-01 1.51515012e+02] [ 2.50400801e-01 8.32083138e-01 4.94911194e-01 -7.26843792e+01] [-9.07445075e-01 2.35613238e-02 4.19509594e-01 -2.57998925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:-72.67, Z:-25.83 [[ 3.35542736e-01 -5.40183769e-01 7.71759398e-01 1.51515191e+02] [ 2.50394442e-01 8.40928001e-01 4.79731925e-01 -7.26712515e+01] [-9.08137488e-01 3.22737008e-02 4.17426295e-01 -2.58328766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:-72.65, Z:-25.87 [[ 3.36731703e-01 -5.19948557e-01 7.85025642e-01 1.51509154e+02] [ 2.54428852e-01 8.52944481e-01 4.55797840e-01 -7.26547821e+01] [-9.06574718e-01 4.62515897e-02 4.19503362e-01 -2.58727951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:-72.65, Z:-25.89 [[ 3.39676449e-01 -5.24854943e-01 7.80478827e-01 1.51528637e+02] [ 2.51298918e-01 8.50295243e-01 4.62435784e-01 -7.26506619e+01] [-9.06349140e-01 3.90549398e-02 4.20720748e-01 -2.58885026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-72.65, Z:-25.92 [[ 3.33106921e-01 -5.51444316e-01 7.64819551e-01 1.51552914e+02] [ 2.49067321e-01 8.33794803e-01 4.92698383e-01 -7.26521540e+01] [-9.09398289e-01 2.63703156e-02 4.15089578e-01 -2.59151946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:-72.64, Z:-25.94 [[ 3.34979178e-01 -5.52753044e-01 7.63055058e-01 1.51568158e+02] [ 2.49428604e-01 8.32973609e-01 4.93903167e-01 -7.26438247e+01] [-9.08611205e-01 2.48804812e-02 4.16901235e-01 -2.59421089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-72.63, Z:-25.97 [[ 3.37739023e-01 -5.21517145e-01 7.83551032e-01 1.51554563e+02] [ 2.49970813e-01 8.52270946e-01 4.59509334e-01 -7.26270448e+01] [-9.07439775e-01 4.06706550e-02 4.18209221e-01 -2.59734638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-72.63, Z:-25.99 [[ 3.39570775e-01 -5.46408141e-01 7.65591165e-01 1.51580485e+02] [ 2.50015987e-01 8.37109485e-01 4.86559057e-01 -7.26292636e+01] [-9.06743456e-01 2.61887947e-02 4.20868688e-01 -2.59929245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-72.63, Z:-26.02 [[ 3.39568344e-01 -5.56405163e-01 7.58357854e-01 1.51595697e+02] [ 2.51967289e-01 8.30607663e-01 4.96591780e-01 -7.26261224e+01] [-9.06204075e-01 2.24545238e-02 4.22243969e-01 -2.60189348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:-72.62, Z:-26.05 [[ 3.33420946e-01 -5.80357908e-01 7.42977235e-01 1.51623635e+02] [ 2.52001659e-01 8.14259837e-01 5.22949407e-01 -7.26227506e+01] [-9.08474346e-01 1.28692097e-02 4.17742440e-01 -2.60509781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-72.60, Z:-26.09 [[ 3.33378981e-01 -5.33745444e-01 7.77157807e-01 1.51600755e+02] [ 2.49951157e-01 8.44854630e-01 4.73016991e-01 -7.25996119e+01] [-9.09056035e-01 3.65575706e-02 4.15067067e-01 -2.60858701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:-72.59, Z:-26.11 [[ 3.23475476e-01 -5.23559494e-01 7.88193550e-01 1.51586573e+02] [ 2.51883559e-01 8.50566715e-01 4.61617739e-01 -7.25871821e+01] [-9.12095548e-01 4.92109792e-02 4.07013502e-01 -2.61143897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:-72.61, Z:-26.13 [[ 3.28994978e-01 -6.04105822e-01 7.25822609e-01 1.51666568e+02] [ 2.50923587e-01 7.96902992e-01 5.49529777e-01 -7.26072687e+01] [-9.10384346e-01 1.33347597e-03 4.13761482e-01 -2.61332243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:-72.58, Z:-26.17 [[ 3.28956008e-01 -5.43991605e-01 7.71920384e-01 1.51630937e+02] [ 2.50290777e-01 8.38404377e-01 4.84182432e-01 -7.25805188e+01] [-9.10572607e-01 3.39298326e-02 4.11954238e-01 -2.61687314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.67, Y:-72.59, Z:-26.20 [[ 3.23265636e-01 -5.87317303e-01 7.41995764e-01 1.51666963e+02] [ 2.52846075e-01 8.09195296e-01 5.30350671e-01 -7.25877670e+01] [-9.11903608e-01 1.61665702e-02 4.10085907e-01 -2.61956569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-72.56, Z:-26.23 [[ 3.28229058e-01 -5.40753029e-01 7.74501031e-01 1.51648745e+02] [ 2.50440421e-01 8.40401695e-01 4.80629365e-01 -7.25632626e+01] [-9.10793764e-01 3.62098400e-02 4.11270673e-01 -2.62266052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:-72.56, Z:-26.25 [[ 3.28797315e-01 -5.60924601e-01 7.59773596e-01 1.51669551e+02] [ 2.51822392e-01 8.27448990e-01 5.01910004e-01 -7.25641438e+01] [-9.10207563e-01 2.63013426e-02 4.13316381e-01 -2.62471159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-72.56, Z:-26.27 [[ 3.28739835e-01 -5.89582076e-01 7.37782554e-01 1.51703991e+02] [ 2.52935957e-01 8.07626684e-01 5.32693665e-01 -7.25639666e+01] [-9.09919514e-01 1.14941092e-02 4.14625569e-01 -2.62738271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-72.55, Z:-26.31 [[ 3.30857618e-01 -5.63864254e-01 7.56696993e-01 1.51698965e+02] [ 2.53361496e-01 8.25493537e-01 5.04349455e-01 -7.25466837e+01] [-9.09033107e-01 2.48500231e-02 4.15982316e-01 -2.63061120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-72.54, Z:-26.34 [[ 3.30283621e-01 -5.55392193e-01 7.63185588e-01 1.51703361e+02] [ 2.52913037e-01 8.31068073e-01 4.95339130e-01 -7.25367881e+01] [-9.09366662e-01 2.94171830e-02 4.14954099e-01 -2.63373501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:-72.53, Z:-26.37 [[ 3.30334521e-01 -5.57151142e-01 7.61880378e-01 1.51714941e+02] [ 2.53153241e-01 8.29916772e-01 4.97143428e-01 -7.25299944e+01] [-9.09281332e-01 2.86488512e-02 4.15194777e-01 -2.63661408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-72.52, Z:-26.40 [[ 3.24009789e-01 -5.36010010e-01 7.79558161e-01 1.51698472e+02] [ 2.52218185e-01 8.43128532e-01 4.74889740e-01 -7.25189726e+01] [-9.11813382e-01 4.27498196e-02 4.08373369e-01 -2.63969453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:-72.53, Z:-26.42 [[ 3.29546879e-01 -5.90384976e-01 7.36779773e-01 1.51755354e+02] [ 2.56614095e-01 8.07003984e-01 5.31877595e-01 -7.25284936e+01] [-9.08596754e-01 1.37894730e-02 4.17446750e-01 -2.64175061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.74, Y:-72.51, Z:-26.45 [[ 3.24818075e-01 -5.59329020e-01 7.62656060e-01 1.51740290e+02] [ 2.55835215e-01 8.28280894e-01 4.98496844e-01 -7.25127684e+01] [-9.10517194e-01 3.31934914e-02 4.12136665e-01 -2.64531549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:-72.51, Z:-26.48 [[ 3.23042953e-01 -5.73412396e-01 7.52888753e-01 1.51759799e+02] [ 2.55096015e-01 8.18855789e-01 5.14199592e-01 -7.25109881e+01] [-9.11355734e-01 2.59503664e-02 4.10800810e-01 -2.64797036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-72.51, Z:-26.51 [[ 3.23051632e-01 -5.78809135e-01 7.48744034e-01 1.51774967e+02] [ 2.55356784e-01 8.15132255e-01 5.19954152e-01 -7.25060370e+01] [-9.11279625e-01 2.32248317e-02 4.11132645e-01 -2.65094717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-72.50, Z:-26.54 [[ 3.19294434e-01 -5.68925017e-01 7.57875576e-01 1.51773108e+02] [ 2.55046605e-01 8.21819123e-01 5.09474787e-01 -7.24986308e+01] [-9.12689593e-01 3.06211287e-02 4.07504666e-01 -2.65408501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44361786499996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.79, Y:-72.50, Z:-26.57 [[ 3.15824815e-01 -5.79930502e-01 7.50956257e-01 1.51787855e+02] [ 2.54425993e-01 8.14242448e-01 5.21801351e-01 -7.24966984e+01] [-9.14068980e-01 2.62649763e-02 4.04707365e-01 -2.65705684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:-72.49, Z:-26.60 [[ 3.15099622e-01 -5.90132851e-01 7.43273467e-01 1.51805812e+02] [ 2.53893151e-01 8.07040110e-01 5.33127123e-01 -7.24938419e+01] [-9.14467329e-01 2.07238879e-02 4.04128722e-01 -2.65984598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-72.49, Z:-26.63 [[ 3.15576757e-01 -5.91936485e-01 7.41635024e-01 1.51818476e+02] [ 2.53878348e-01 8.05750479e-01 5.35081256e-01 -7.24866306e+01] [-9.14306893e-01 1.94258670e-02 4.04555980e-01 -2.66288626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:-72.48, Z:-26.66 [[ 3.13881645e-01 -5.88702042e-01 7.44921620e-01 1.51825526e+02] [ 2.54166956e-01 8.08036604e-01 5.31484717e-01 -7.24805757e+01] [-9.14810074e-01 2.25111630e-02 4.03256464e-01 -2.66588984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:151.85, Y:-72.48, Z:-26.69 [[ 3.15773743e-01 -6.05630493e-01 7.30409918e-01 1.51852103e+02] [ 2.54263241e-01 7.95653966e-01 5.49804484e-01 -7.24791747e+01] [-9.14131909e-01 1.21025733e-02 4.05236203e-01 -2.66859766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:-72.46, Z:-26.72 [[ 3.15497623e-01 -5.73407530e-01 7.56085348e-01 1.51837952e+02] [ 2.54778709e-01 8.18710413e-01 5.14588253e-01 -7.24624203e+01] [-9.14083727e-01 3.02830786e-02 4.04393220e-01 -2.67196911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62361786499997 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:151.84, Y:-72.46, Z:-26.75 [[ 3.13600113e-01 -5.70415964e-01 7.59131475e-01 1.51842494e+02] [ 2.52167076e-01 8.20782551e-01 5.12569771e-01 -7.24599453e+01] [-9.15459849e-01 3.06860261e-02 4.01237627e-01 -2.67502306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:-72.46, Z:-26.77 [[ 3.13968363e-01 -5.89563152e-01 7.44203706e-01 1.51865816e+02] [ 2.56257443e-01 8.07370515e-01 5.31493155e-01 -7.24558261e+01] [-9.14196910e-01 2.38357030e-02 4.04568746e-01 -2.67718646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-72.45, Z:-26.80 [[ 3.13948971e-01 -5.94825620e-01 7.40012517e-01 1.51880635e+02] [ 2.55891372e-01 8.03589309e-01 5.37367499e-01 -7.24509518e+01] [-9.14306103e-01 2.06568451e-02 4.04496781e-01 -2.68017611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:-72.44, Z:-26.83 [[ 3.12824522e-01 -5.94041786e-01 7.41117518e-01 1.51889112e+02] [ 2.56587821e-01 8.04121877e-01 5.36237538e-01 -7.24432232e+01] [-9.14496314e-01 2.24134769e-02 4.03972929e-01 -2.68309315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:-72.44, Z:-26.86 [[ 3.13208812e-01 -5.98402384e-01 7.37438016e-01 1.51904309e+02] [ 2.57128033e-01 8.00939601e-01 5.40722600e-01 -7.24376964e+01] [-9.14213003e-01 2.02569037e-02 4.04727369e-01 -2.68607493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-72.43, Z:-26.88 [[ 3.20851927e-01 -6.14407496e-01 7.20803351e-01 1.51942350e+02] [ 2.58704549e-01 7.88951761e-01 5.57339283e-01 -7.24303430e+01] [-9.11112505e-01 7.65172279e-03 4.12086706e-01 -2.68810171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:-72.41, Z:-26.92 [[ 3.21077180e-01 -5.80416463e-01 7.48348966e-01 1.51928182e+02] [ 2.58455016e-01 8.13893760e-01 5.20363290e-01 -7.24117789e+01] [-9.11103973e-01 2.63377662e-02 4.11334259e-01 -2.69175510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-72.40, Z:-26.95 [[ 3.20782874e-01 -5.80029848e-01 7.48774815e-01 1.51938092e+02] [ 2.57504133e-01 8.14183903e-01 5.20380816e-01 -7.24043761e+01] [-9.11476807e-01 2.58833559e-02 4.10536336e-01 -2.69472827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:-72.40, Z:-26.97 [[ 3.21064513e-01 -5.79613699e-01 7.48976327e-01 1.51946827e+02] [ 2.56579120e-01 8.14504412e-01 5.20336159e-01 -7.23976288e+01] [-9.11638489e-01 2.51102114e-02 4.10225235e-01 -2.69730222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:-72.39, Z:-27.00 [[ 3.22393181e-01 -5.78657319e-01 7.49145076e-01 1.51956120e+02] [ 2.53412743e-01 8.15274582e-01 5.20681608e-01 -7.23903563e+01] [-9.12055162e-01 2.19787091e-02 4.09478104e-01 -2.70026196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:-72.38, Z:-27.03 [[ 3.23228978e-01 -5.77925298e-01 7.49349970e-01 1.51964246e+02] [ 2.51683227e-01 8.15836831e-01 5.20639817e-01 -7.23836792e+01] [-9.12238226e-01 2.03129424e-02 4.09156209e-01 -2.70273568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-72.38, Z:-27.05 [[ 3.23970541e-01 -5.77460211e-01 7.49388279e-01 1.51972883e+02] [ 2.49744450e-01 8.16212095e-01 5.20985149e-01 -7.23769351e+01] [-9.12507971e-01 1.83717231e-02 4.08646157e-01 -2.70524559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:-72.37, Z:-27.08 [[ 3.24981487e-01 -5.76847513e-01 7.49422431e-01 1.51983727e+02] [ 2.47446799e-01 8.16694722e-01 5.21325055e-01 -7.23693716e+01] [-9.12774405e-01 1.60211897e-02 4.08149735e-01 -2.70828874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-72.36, Z:-27.11 [[ 3.26690830e-01 -5.75316811e-01 7.49855765e-01 1.51993147e+02] [ 2.43598936e-01 8.17837492e-01 5.21345754e-01 -7.23614599e+01] [-9.13199135e-01 1.23451900e-02 4.07326572e-01 -2.71117651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:-72.35, Z:-27.14 [[ 3.27046654e-01 -5.74701226e-01 7.50172638e-01 1.52001429e+02] [ 2.41898242e-01 8.18290254e-01 5.21427178e-01 -7.23548275e+01] [-9.13523796e-01 1.09344288e-02 4.06638306e-01 -2.71372394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:-72.35, Z:-27.16 [[ 3.28085391e-01 -5.74590621e-01 7.49803704e-01 1.52010908e+02] [ 2.40573190e-01 8.18389705e-01 5.21883925e-01 -7.23476172e+01] [-9.13501241e-01 9.16017694e-03 4.06732805e-01 -2.71628961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10361786499996 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:152.01, Y:-72.33, Z:-27.19 [[ 3.32581525e-01 -5.58944480e-01 7.59585806e-01 1.52010063e+02] [ 2.40882467e-01 8.29066684e-01 5.04602884e-01 -7.23338530e+01] [-9.11792283e-01 1.51493066e-02 4.10372187e-01 -2.71922026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:-72.34, Z:-27.21 [[ 3.30859930e-01 -5.80884864e-01 7.43709944e-01 1.52034137e+02] [ 2.37474436e-01 8.13984828e-01 5.30126959e-01 -7.23352660e+01] [-9.13311337e-01 1.21433090e-03 4.07260269e-01 -2.72135058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:-72.33, Z:-27.24 [[ 3.29002928e-01 -5.79510940e-01 7.45603208e-01 1.52041962e+02] [ 2.36049088e-01 8.14962313e-01 5.29261048e-01 -7.23280575e+01] [-9.14351082e-01 1.87052288e-03 4.04918016e-01 -2.72399857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-72.32, Z:-27.27 [[ 3.29176872e-01 -5.74489855e-01 7.49402424e-01 1.52047694e+02] [ 2.36093776e-01 8.18499214e-01 5.23754490e-01 -7.23193898e+01] [-9.14276936e-01 4.52138344e-03 4.05064491e-01 -2.72660789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:-72.31, Z:-27.29 [[ 3.28903922e-01 -5.74989348e-01 7.49139146e-01 1.52056752e+02] [ 2.36133702e-01 8.18148749e-01 5.24283796e-01 -7.23131168e+01] [-9.14364853e-01 4.45800305e-03 4.04866696e-01 -2.72909288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-72.31, Z:-27.32 [[ 3.28435987e-01 -5.75430228e-01 7.49005912e-01 1.52065660e+02] [ 2.36737036e-01 8.17835268e-01 5.24500763e-01 -7.23065082e+01] [-9.14377044e-01 5.05251342e-03 4.04832180e-01 -2.73162218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-72.30, Z:-27.34 [[ 3.27704399e-01 -5.76394301e-01 7.48584957e-01 1.52074613e+02] [ 2.38204736e-01 8.17147415e-01 5.24908188e-01 -7.23001850e+01] [-9.14258350e-01 6.30175925e-03 4.05082655e-01 -2.73416135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:-72.29, Z:-27.38 [[ 3.20890214e-01 -5.59614139e-01 7.64108295e-01 1.52059181e+02] [ 2.38750323e-01 8.28514482e-01 5.06519532e-01 -7.22901392e+01] [-9.16530280e-01 1.98939414e-02 3.99470246e-01 -2.73787181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:-72.29, Z:-27.40 [[ 3.21177626e-01 -5.89497584e-01 7.41173078e-01 1.52091645e+02] [ 2.38835529e-01 8.07760648e-01 5.38962267e-01 -7.22936876e+01] [-9.16407400e-01 3.91584242e-03 4.00227615e-01 -2.74040979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-72.29, Z:-27.43 [[ 3.25858916e-01 -6.06104715e-01 7.25570839e-01 1.52127056e+02] [ 2.41989308e-01 7.95365783e-01 5.55728753e-01 -7.22883005e+01] [-9.13924035e-01 -5.50878368e-03 4.05847892e-01 -2.74250827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:-72.27, Z:-27.46 [[ 3.24778686e-01 -5.77437465e-01 7.49055925e-01 1.52115056e+02] [ 2.43971076e-01 8.16335829e-01 5.23520705e-01 -7.22721329e+01] [-9.13781658e-01 1.27196133e-02 4.06006517e-01 -2.74558136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-72.26, Z:-27.49 [[ 3.16145868e-01 -5.60416157e-01 7.65496911e-01 1.52098806e+02] [ 2.44518403e-01 8.27753768e-01 5.05009357e-01 -7.22624123e+01] [-9.16658355e-01 2.75214604e-02 3.98722997e-01 -2.74928427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-72.27, Z:-27.51 [[ 3.20976042e-01 -6.12554468e-01 7.22323615e-01 1.52160755e+02] [ 2.48008279e-01 7.90428123e-01 5.60102916e-01 -7.22697702e+01] [-9.14038443e-01 -6.37380396e-04 4.05627069e-01 -2.75088293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:-72.25, Z:-27.54 [[ 3.19679882e-01 -5.79535911e-01 7.49628508e-01 1.52147290e+02] [ 2.50000766e-01 8.14697744e-01 5.23227678e-01 -7.22511995e+01] [-9.13949884e-01 2.01423385e-02 4.05326900e-01 -2.75448922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-72.24, Z:-27.58 [[ 3.18205319e-01 -5.79949191e-01 7.49936204e-01 1.52158196e+02] [ 2.51240755e-01 8.14357126e-01 5.23163984e-01 -7.22439381e+01] [-9.14124422e-01 2.19409762e-02 4.04839642e-01 -2.75751448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:-72.24, Z:-27.60 [[ 3.15678695e-01 -5.80590735e-01 7.50507402e-01 1.52168778e+02] [ 2.53769816e-01 8.13798778e-01 5.22812041e-01 -7.22374970e+01] [-9.14301833e-01 2.54155023e-02 4.04235340e-01 -2.76041463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:-72.23, Z:-27.63 [[ 3.14579087e-01 -5.80603883e-01 7.50958806e-01 1.52179132e+02] [ 2.54746145e-01 8.13739739e-01 5.22428979e-01 -7.22303957e+01] [-9.14409317e-01 2.69586300e-02 4.03892105e-01 -2.76334981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-72.22, Z:-27.66 [[ 3.13486266e-01 -5.80781529e-01 7.51278362e-01 1.52190186e+02] [ 2.55283542e-01 8.13577183e-01 5.22419832e-01 -7.22231335e+01] [-9.14634722e-01 2.80175593e-02 4.03309239e-01 -2.76638472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:-72.22, Z:-27.69 [[ 3.12919263e-01 -5.80759969e-01 7.51531366e-01 1.52200931e+02] [ 2.55511934e-01 8.13572909e-01 5.22314822e-01 -7.22158389e+01] [-9.14765099e-01 2.85828642e-02 4.02973738e-01 -2.76937594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:-72.21, Z:-27.72 [[ 3.12084669e-01 -5.80425741e-01 7.52136369e-01 1.52211183e+02] [ 2.55500440e-01 8.13787069e-01 5.21986715e-01 -7.22083151e+01] [-9.15053378e-01 2.92671225e-02 4.02269500e-01 -2.77232731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:-72.20, Z:-27.75 [[ 3.12009529e-01 -5.79901150e-01 7.52572063e-01 1.52221917e+02] [ 2.55109465e-01 8.14161730e-01 5.21593557e-01 -7.22007724e+01] [-9.15188076e-01 2.92460963e-02 4.01964490e-01 -2.77530020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:-72.19, Z:-27.78 [[ 3.11974608e-01 -5.79599503e-01 7.52818876e-01 1.52232225e+02] [ 2.54607801e-01 8.14385928e-01 5.21488665e-01 -7.21936496e+01] [-9.15339670e-01 2.89823372e-02 4.01638286e-01 -2.77814381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.26, Y:-72.19, Z:-27.81 [[ 3.14986343e-01 -5.95964204e-01 7.38654366e-01 1.52258636e+02] [ 2.54229617e-01 8.02811232e-01 5.39315704e-01 -7.21903679e+01] [-9.14412875e-01 1.79107356e-02 4.04386325e-01 -2.78066993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.26, Y:-72.18, Z:-27.84 [[ 3.16865850e-01 -5.76743538e-01 7.52969405e-01 1.52256910e+02] [ 2.53498922e-01 8.16494980e-01 5.18723669e-01 -7.21766197e+01] [-9.13966263e-01 2.65111162e-02 4.04923241e-01 -2.78402817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-72.16, Z:-27.87 [[ 3.15019286e-01 -5.53600823e-01 7.70901406e-01 1.52246163e+02] [ 2.50596678e-01 8.31949147e-01 4.95037293e-01 -7.21629680e+01] [-9.15403820e-01 3.72390367e-02 4.00810554e-01 -2.78738610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:-72.17, Z:-27.89 [[ 3.21161367e-01 -5.99215181e-01 7.33346128e-01 1.52297525e+02] [ 2.50307896e-01 8.00540849e-01 5.44500051e-01 -7.21686412e+01] [-9.13346229e-01 8.68994540e-03 4.07091085e-01 -2.78917303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-72.15, Z:-27.93 [[ 3.21121158e-01 -5.61811786e-01 7.62396694e-01 1.52278960e+02] [ 2.49243339e-01 8.26788144e-01 5.04280798e-01 -7.21490919e+01] [-9.13651443e-01 2.80870640e-02 4.05527012e-01 -2.79260834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:-72.15, Z:-27.96 [[ 3.17749711e-01 -5.64463119e-01 7.61850713e-01 1.52285717e+02] [ 2.44933256e-01 8.25085130e-01 5.09158353e-01 -7.21459767e+01] [-9.15992806e-01 2.48176565e-02 4.00426351e-01 -2.79582520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.30, Y:-72.14, Z:-27.98 [[ 3.20190012e-01 -5.72762898e-01 7.54599906e-01 1.52302761e+02] [ 2.40809103e-01 8.19579291e-01 5.19904570e-01 -7.21420492e+01] [-9.16236504e-01 1.52462763e-02 4.00347623e-01 -2.79848598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-72.14, Z:-28.01 [[ 3.29319362e-01 -5.98942133e-01 7.29943203e-01 1.52345775e+02] [ 2.40966845e-01 8.00778572e-01 5.48350853e-01 -7.21394029e+01] [-9.12953305e-01 -4.69044304e-03 4.08037084e-01 -2.80063524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.30, Y:-72.11, Z:-28.05 [[ 3.26365368e-01 -5.37828643e-01 7.77319752e-01 1.52304727e+02] [ 2.36968543e-01 8.42640957e-01 4.83530896e-01 -7.21139454e+01] [-9.15058226e-01 2.63925906e-02 4.02457296e-01 -2.80475024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-72.12, Z:-28.07 [[ 3.25026365e-01 -5.63641119e-01 7.59385640e-01 1.52329994e+02] [ 2.33976144e-01 8.25946914e-01 5.12900438e-01 -7.21182512e+01] [-9.16304003e-01 1.09719592e-02 4.00333099e-01 -2.80746183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-72.11, Z:-28.10 [[ 3.26336993e-01 -5.68789047e-01 7.54972309e-01 1.52345431e+02] [ 2.32471838e-01 8.22460881e-01 5.19148286e-01 -7.21132334e+01] [-9.16221049e-01 6.09250962e-03 4.00626846e-01 -2.81038440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-72.11, Z:-28.13 [[ 3.36167023e-01 -5.94137814e-01 7.30747556e-01 1.52388073e+02] [ 2.32605033e-01 8.04243665e-01 5.46888495e-01 -7.21123678e+01] [-9.12626227e-01 -1.38703176e-02 4.08559645e-01 -2.81269678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:-72.08, Z:-28.17 [[ 3.30026480e-01 -5.27578560e-01 7.82779270e-01 1.52343473e+02] [ 2.30916310e-01 8.49167016e-01 4.74966353e-01 -7.20841125e+01] [-9.15292401e-01 2.40050266e-02 4.02074096e-01 -2.81682870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-72.09, Z:-28.19 [[ 3.33185860e-01 -5.72697712e-01 7.49002345e-01 1.52391264e+02] [ 2.30067070e-01 8.19763055e-01 5.24459415e-01 -7.20934025e+01] [-9.14361157e-01 -2.42168562e-03 4.04892343e-01 -2.81911076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:-72.08, Z:-28.23 [[ 3.28202603e-01 -5.36687087e-01 7.77335206e-01 1.52368541e+02] [ 2.29804572e-01 8.43559882e-01 4.85382926e-01 -7.20754803e+01] [-9.16227543e-01 1.93312444e-02 4.00191695e-01 -2.82255953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-72.08, Z:-28.25 [[ 3.32193816e-01 -5.79133744e-01 7.44480607e-01 1.52416542e+02] [ 2.29998592e-01 8.15215046e-01 5.31530880e-01 -7.20840268e+01] [-9.14739261e-01 -5.34177977e-03 4.04009343e-01 -2.82480475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-72.06, Z:-28.28 [[ 3.28133376e-01 -5.39181474e-01 7.75636400e-01 1.52392663e+02] [ 2.29869755e-01 8.41994109e-01 4.88063332e-01 -7.20640036e+01] [-9.16235987e-01 1.81454807e-02 4.00227883e-01 -2.82829634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27361786499998 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:152.42, Y:-72.07, Z:-28.31 [[ 3.28933572e-01 -5.61799892e-01 7.59067577e-01 1.52418060e+02] [ 2.31798731e-01 8.27238246e-01 5.11806832e-01 -7.20674529e+01] [-9.15462754e-01 7.60045176e-03 4.02330933e-01 -2.83050666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-72.07, Z:-28.33 [[ 3.27596146e-01 -5.84135641e-01 7.42607783e-01 1.52444584e+02] [ 2.31787641e-01 8.11648393e-01 5.36191547e-01 -7.20696912e+01] [-9.15945006e-01 -3.52697796e-03 4.01288307e-01 -2.83281484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-72.05, Z:-28.36 [[ 3.22722117e-01 -5.41644444e-01 7.76190526e-01 1.52418421e+02] [ 2.32320807e-01 8.40312994e-01 4.89797014e-01 -7.20499385e+01] [-9.17538816e-01 2.22568800e-02 3.97022862e-01 -2.83630968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:-72.05, Z:-28.39 [[ 3.19937834e-01 -5.59293705e-01 7.64742004e-01 1.52433334e+02] [ 2.33235399e-01 8.28821826e-01 5.08581979e-01 -7.20535452e+01] [-9.18281564e-01 1.56502897e-02 3.95618551e-01 -2.83883724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:-72.05, Z:-28.41 [[ 3.20079615e-01 -5.76395880e-01 7.51875541e-01 1.52455525e+02] [ 2.33132605e-01 8.17144385e-01 5.27185207e-01 -7.20527913e+01] [-9.18258258e-01 6.54546563e-03 3.95927933e-01 -2.84123900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.48, Y:-72.05, Z:-28.44 [[ 3.20968343e-01 -5.85831025e-01 7.44164856e-01 1.52477059e+02] [ 2.33387289e-01 8.10432319e-01 5.37335862e-01 -7.20491656e+01] [-9.17883269e-01 1.21081733e-03 3.96848633e-01 -2.84370653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-72.04, Z:-28.47 [[ 3.21514413e-01 -5.68175155e-01 7.57499489e-01 1.52477003e+02] [ 2.33591552e-01 8.22842076e-01 5.18040447e-01 -7.20378096e+01] [-9.17640163e-01 1.03880111e-02 3.97276503e-01 -2.84695549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499996 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:152.49, Y:-72.03, Z:-28.49 [[ 3.23250827e-01 -5.68402908e-01 7.56589081e-01 1.52488695e+02] [ 2.35306604e-01 8.22680229e-01 5.17521056e-01 -7.20309252e+01] [-9.16591351e-01 1.07412979e-02 3.99681022e-01 -2.84918645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:-72.03, Z:-28.52 [[ 3.20775590e-01 -5.78844337e-01 7.49694774e-01 1.52503730e+02] [ 2.34187069e-01 8.15417758e-01 5.29386718e-01 -7.20317158e+01] [-9.17746935e-01 5.75448547e-03 3.97123971e-01 -2.85170384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:-72.02, Z:-28.55 [[ 3.21457626e-01 -5.77932400e-01 7.50106083e-01 1.52515726e+02] [ 2.35443100e-01 8.16055237e-01 5.27845049e-01 -7.20238905e+01] [-9.17186754e-01 6.92748516e-03 3.98397375e-01 -2.85496384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57361786499996 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:152.51, Y:-72.01, Z:-28.58 [[ 3.22885513e-01 -5.57289149e-01 7.64966502e-01 1.52512997e+02] [ 2.36166311e-01 8.30132445e-01 5.05079794e-01 -7.20111786e+01] [-9.16499001e-01 1.75763691e-02 3.99650663e-01 -2.85758319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:-72.01, Z:-28.60 [[ 3.23275083e-01 -5.70443192e-01 7.55041579e-01 1.52531049e+02] [ 2.35975584e-01 8.21273138e-01 5.19447742e-01 -7.20128075e+01] [-9.16410795e-01 1.02468650e-02 4.00107807e-01 -2.85996244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-72.01, Z:-28.63 [[ 3.24253637e-01 -5.71558098e-01 7.53777765e-01 1.52544997e+02] [ 2.35959682e-01 8.20511843e-01 5.20656646e-01 -7.20068334e+01] [-9.16069106e-01 9.03635037e-03 4.00918617e-01 -2.86256105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:-72.00, Z:-28.65 [[ 3.20998605e-01 -5.70866408e-01 7.55692689e-01 1.52551358e+02] [ 2.38149266e-01 8.20934060e-01 5.18991519e-01 -7.20021364e+01] [-9.16648691e-01 1.33721053e-02 3.99470104e-01 -2.86533897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69361786499996 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:152.56, Y:-72.00, Z:-28.68 [[ 3.20312093e-01 -5.68271345e-01 7.57936568e-01 1.52560452e+02] [ 2.37450444e-01 8.22712842e-01 5.16488980e-01 -7.19952018e+01] [-9.17070036e-01 1.45347088e-02 3.98461155e-01 -2.86761695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-72.00, Z:-28.70 [[ 3.19383035e-01 -5.88957187e-01 7.42377201e-01 1.52586044e+02] [ 2.36276608e-01 8.08158286e-01 5.39493791e-01 -7.19983351e+01] [-9.17697032e-01 3.10120299e-03 3.97268852e-01 -2.86990407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-71.98, Z:-28.73 [[ 3.16413318e-01 -5.54285768e-01 7.69837580e-01 1.52564450e+02] [ 2.38238791e-01 8.31955292e-01 5.01091479e-01 -7.19832467e+01] [-9.18218324e-01 2.48531563e-02 3.95294106e-01 -2.87328027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-71.98, Z:-28.76 [[ 3.14311560e-01 -5.73716365e-01 7.56345011e-01 1.52587696e+02] [ 2.38154553e-01 8.18897857e-01 5.22196044e-01 -7.19832093e+01] [-9.18961725e-01 1.59947552e-02 3.94022228e-01 -2.87595840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:-71.98, Z:-28.79 [[ 3.19703826e-01 -5.82547903e-01 7.47280004e-01 1.52613883e+02] [ 2.39641666e-01 8.12743178e-01 5.31055928e-01 -7.19782486e+01] [-9.16712243e-01 9.29881346e-03 3.99439853e-01 -2.87885582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-71.96, Z:-28.82 [[ 3.16853371e-01 -5.45858240e-01 7.75656317e-01 1.52591456e+02] [ 2.39946094e-01 8.37323508e-01 4.91238451e-01 -7.19593389e+01] [-9.17621825e-01 3.04651446e-02 3.96285329e-01 -2.88182237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:-71.97, Z:-28.84 [[ 3.15903874e-01 -5.77856257e-01 7.52520358e-01 1.52623543e+02] [ 2.38351533e-01 8.16034714e-01 5.26569931e-01 -7.19663312e+01] [-9.18364464e-01 1.30188996e-02 3.95521452e-01 -2.88430312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:-71.96, Z:-28.87 [[ 3.17925455e-01 -5.70513167e-01 7.57256979e-01 1.52630328e+02] [ 2.36588791e-01 8.21168288e-01 5.19334562e-01 -7.19578187e+01] [-9.18122622e-01 1.40488365e-02 3.96047322e-01 -2.88712757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:-71.95, Z:-28.90 [[ 3.17094686e-01 -5.68837681e-01 7.58864054e-01 1.52636953e+02] [ 2.36110304e-01 8.22312951e-01 5.17738674e-01 -7.19519677e+01] [-9.18533007e-01 1.50034399e-02 3.95059504e-01 -2.88972843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:-71.95, Z:-28.92 [[ 3.17976569e-01 -5.73678288e-01 7.54840463e-01 1.52651053e+02] [ 2.36118737e-01 8.18993688e-01 5.22969675e-01 -7.19471916e+01] [-9.18225922e-01 1.19398742e-02 3.95876996e-01 -2.89228307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:-71.94, Z:-28.95 [[ 3.18623116e-01 -5.66195925e-01 7.60198319e-01 1.52653753e+02] [ 2.36914786e-01 8.24112062e-01 5.14500432e-01 -7.19387768e+01] [-9.17796652e-01 1.61704910e-02 3.96721339e-01 -2.89515386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:152.67, Y:-71.93, Z:-28.97 [[ 3.19823264e-01 -5.72542102e-01 7.54922924e-01 1.52670458e+02] [ 2.35534618e-01 8.19803202e-01 5.21963747e-01 -7.19349219e+01] [-9.17734451e-01 1.08743331e-02 3.97045621e-01 -2.89727481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05361786499998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:152.69, Y:-71.93, Z:-29.00 [[ 3.19919594e-01 -5.79011891e-01 7.49931120e-01 1.52685138e+02] [ 2.35772091e-01 8.15283575e-01 5.28889604e-01 -7.19305366e+01] [-9.17639894e-01 7.61068134e-03 3.97340035e-01 -2.89988059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:152.70, Y:-71.93, Z:-29.02 [[ 3.17690742e-01 -5.92592527e-01 7.40207194e-01 1.52703586e+02] [ 2.31399619e-01 8.05499824e-01 5.45549494e-01 -7.19324050e+01] [-9.19525317e-01 -2.03236107e-03 3.93025521e-01 -2.90192852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:-71.92, Z:-29.05 [[ 3.18071051e-01 -5.86126575e-01 7.45175445e-01 1.52707502e+02] [ 2.32927868e-01 8.10215662e-01 5.37861683e-01 -7.19246663e+01] [-9.19007843e-01 2.49389658e-03 3.94231361e-01 -2.90505192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499995 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:152.71, Y:-71.91, Z:-29.07 [[ 3.19974593e-01 -5.70845007e-01 7.56143001e-01 1.52707696e+02] [ 2.32942324e-01 8.21004548e-01 5.21238339e-01 -7.19130393e+01] [-9.18343146e-01 9.35468267e-03 3.95674558e-01 -2.90749885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17361786499995 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:152.72, Y:-71.91, Z:-29.11 [[ 3.18853020e-01 -5.76695011e-01 7.52167279e-01 1.52720511e+02] [ 2.30809246e-01 8.16943680e-01 5.28516902e-01 -7.19121431e+01] [-9.19271366e-01 5.08795197e-03 3.93591500e-01 -2.91051706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.74, Y:-71.91, Z:-29.13 [[ 3.20246455e-01 -5.90057902e-01 7.41130137e-01 1.52742163e+02] [ 2.32430570e-01 8.07359673e-01 5.42352643e-01 -7.19080935e+01] [-9.18378048e-01 -1.42521065e-03 3.95701567e-01 -2.91274816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:-71.90, Z:-29.16 [[ 3.20740743e-01 -5.75102115e-01 7.52584170e-01 1.52742471e+02] [ 2.33213680e-01 8.18052642e-01 5.25738770e-01 -7.18962995e+01] [-9.18006947e-01 6.88707967e-03 3.96504493e-01 -2.91603924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26361786499996 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:152.74, Y:-71.88, Z:-29.19 [[ 3.23321885e-01 -5.59828473e-01 7.62925317e-01 1.52743783e+02] [ 2.36033600e-01 8.28456618e-01 5.07885590e-01 -7.18829584e+01] [-9.16379342e-01 1.58654824e-02 3.99996485e-01 -2.91880875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.76, Y:-71.88, Z:-29.21 [[ 3.21577761e-01 -5.71431828e-01 7.55018814e-01 1.52761685e+02] [ 2.32222966e-01 8.20616045e-01 5.22170280e-01 -7.18844720e+01] [-9.17965270e-01 7.41435881e-03 3.96591465e-01 -2.92085918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.77, Y:-71.88, Z:-29.24 [[ 3.20795760e-01 -5.70865442e-01 7.55779550e-01 1.52770028e+02] [ 2.32872802e-01 8.20996734e-01 5.21281710e-01 -7.18797146e+01] [-9.18074256e-01 8.77553960e-03 3.96311306e-01 -2.92420202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.78, Y:-71.87, Z:-29.27 [[ 3.20543285e-01 -5.72346719e-01 7.54765683e-01 1.52783237e+02] [ 2.31887443e-01 8.19979460e-01 5.23318163e-01 -7.18738249e+01] [-9.18411790e-01 7.27456129e-03 3.95558927e-01 -2.92707271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.79, Y:-71.87, Z:-29.30 [[ 3.22303464e-01 -5.66520823e-01 7.58402686e-01 1.52792706e+02] [ 2.32187514e-01 8.23992526e-01 5.16841635e-01 -7.18652795e+01] [-9.17719693e-01 9.51178533e-03 3.97114707e-01 -2.92983856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.81, Y:-71.86, Z:-29.33 [[ 3.22018698e-01 -5.74352524e-01 7.52610880e-01 1.52808742e+02] [ 2.31499904e-01 8.18593056e-01 5.25655024e-01 -7.18630137e+01] [-9.17993330e-01 4.95860007e-03 3.96564824e-01 -2.93279102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.82, Y:-71.86, Z:-29.36 [[ 3.22350172e-01 -5.73813154e-01 7.52880356e-01 1.52819584e+02] [ 2.31578965e-01 8.18970318e-01 5.25032191e-01 -7.18566220e+01] [-9.17857042e-01 5.10703631e-03 3.96878279e-01 -2.93567685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.83, Y:-71.85, Z:-29.39 [[ 3.22625897e-01 -5.73417004e-01 7.53064054e-01 1.52832241e+02] [ 2.32018817e-01 8.19244945e-01 5.24409180e-01 -7.18517160e+01] [-9.17649061e-01 5.53704840e-03 3.97353170e-01 -2.93872372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.85, Y:-71.85, Z:-29.42 [[ 3.24566389e-01 -5.72770057e-01 7.52722473e-01 1.52845641e+02] [ 2.32738111e-01 8.19698851e-01 5.23380135e-01 -7.18451982e+01] [-9.16782215e-01 5.31560607e-03 3.99352118e-01 -2.94163612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:-71.84, Z:-29.45 [[ 3.24556826e-01 -5.72689225e-01 7.52788096e-01 1.52857248e+02] [ 2.34246709e-01 8.19745069e-01 5.22634194e-01 -7.18401199e+01] [-9.16401302e-01 6.71363871e-03 4.00204424e-01 -2.94456312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:152.87, Y:-71.83, Z:-29.47 [[ 3.25528752e-01 -5.72255389e-01 7.52698347e-01 1.52869609e+02] [ 2.34415312e-01 8.20049770e-01 5.22080297e-01 -7.18340510e+01] [-9.16013369e-01 6.49187010e-03 4.01095204e-01 -2.94741020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:152.88, Y:-71.83, Z:-29.50 [[ 3.27092671e-01 -5.71616025e-01 7.52506149e-01 1.52882461e+02] [ 2.34754216e-01 8.20498082e-01 5.21222942e-01 -7.18262035e+01] [-9.15369238e-01 6.16578722e-03 4.02568181e-01 -2.95038717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:-71.82, Z:-29.53 [[ 3.26519149e-01 -5.70690472e-01 7.53457119e-01 1.52891528e+02] [ 2.32718459e-01 8.21148855e-01 5.21111002e-01 -7.18172585e+01] [-9.16093535e-01 5.19065824e-03 4.00931033e-01 -2.95344568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.92, Y:-71.81, Z:-29.56 [[ 3.28075328e-01 -5.85716926e-01 7.41149285e-01 1.52917118e+02] [ 2.31704719e-01 8.10501693e-01 5.37959041e-01 -7.18136037e+01] [-9.15794465e-01 -4.76330200e-03 4.01618984e-01 -2.95618358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:152.91, Y:-71.80, Z:-29.60 [[ 3.29927355e-01 -5.61423311e-01 7.58914887e-01 1.52910997e+02] [ 2.31327052e-01 8.27501091e-01 5.11595288e-01 -7.17975299e+01] [-9.15224418e-01 6.76826332e-03 4.02887646e-01 -2.95963381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:-71.79, Z:-29.61 [[ 3.43356688e-01 -5.99307404e-01 7.23143706e-01 1.52970750e+02] [ 2.34843017e-01 8.00278656e-01 5.51727133e-01 -7.17947856e+01] [-9.09370630e-01 -1.96139512e-02 4.15524188e-01 -2.96115352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:-71.76, Z:-29.67 [[ 3.30005582e-01 -4.94354244e-01 8.04182938e-01 1.52880455e+02] [ 2.30787425e-01 8.68307164e-01 4.39067004e-01 -7.17605405e+01] [-9.15332442e-01 4.07007470e-02 4.00636954e-01 -2.96660591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:152.93, Y:-71.77, Z:-29.68 [[ 3.30300535e-01 -5.51218176e-01 7.66198460e-01 1.52930987e+02] [ 2.30242349e-01 8.34289321e-01 5.00948889e-01 -7.17727394e+01] [-9.15363325e-01 1.09476469e-02 4.02479977e-01 -2.96837480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:152.98, Y:-71.77, Z:-29.70 [[ 3.39044235e-01 -5.83887961e-01 7.37647515e-01 1.52980049e+02] [ 2.32055700e-01 8.11766118e-01 5.35897305e-01 -7.17723471e+01] [-9.11701244e-01 -1.05175811e-02 4.10719152e-01 -2.97000613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:152.95, Y:-71.75, Z:-29.73 [[ 3.36652921e-01 -5.40790562e-01 7.70850426e-01 1.52952534e+02] [ 2.28872708e-01 8.41079597e-01 4.90104473e-01 -7.17543991e+01] [-9.13390439e-01 1.14315221e-02 4.06924103e-01 -2.97323223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-71.75, Z:-29.77 [[ 3.27496141e-01 -5.41787741e-01 7.74088058e-01 1.52953747e+02] [ 2.30502134e-01 8.40327911e-01 4.90629971e-01 -7.17480310e+01] [-9.16305104e-01 1.77495267e-02 4.00087379e-01 -2.97650064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89361786499995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:152.99, Y:-71.74, Z:-29.79 [[ 3.37142782e-01 -5.59983150e-01 7.56804873e-01 1.52988225e+02] [ 2.36644818e-01 8.28465709e-01 5.07586247e-01 -7.17438897e+01] [-9.11226632e-01 7.96491177e-03 4.11828345e-01 -2.97903247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499995 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:152.97, Y:-71.73, Z:-29.82 [[ 3.28992566e-01 -5.36609962e-01 7.77054464e-01 1.52971823e+02] [ 2.32580433e-01 8.43557114e-01 4.84063775e-01 -7.17314832e+01] [-9.15243265e-01 2.14742806e-02 4.02328996e-01 -2.98195987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.00, Y:-71.73, Z:-29.85 [[ 3.26487288e-01 -5.65509471e-01 7.57367209e-01 1.53003737e+02] [ 2.34049734e-01 8.24690948e-01 5.14884028e-01 -7.17320260e+01] [-9.15765676e-01 9.15850433e-03 4.01608452e-01 -2.98459767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.01, Y:-71.72, Z:-29.88 [[ 3.25788611e-01 -5.55238857e-01 7.65226497e-01 1.53006812e+02] [ 2.35902418e-01 8.31523726e-01 5.02909875e-01 -7.17204121e+01] [-9.15539093e-01 1.66764709e-02 4.01883149e-01 -2.98777205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01361786499996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:153.01, Y:-71.71, Z:-29.91 [[ 3.25397322e-01 -5.50755074e-01 7.68625677e-01 1.53013002e+02] [ 2.36783267e-01 8.34425820e-01 4.97661768e-01 -7.17118219e+01] [-9.15450855e-01 2.00598923e-02 4.01929513e-01 -2.99078733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.02, Y:-71.70, Z:-29.94 [[ 3.22825492e-01 -5.48463706e-01 7.71343805e-01 1.53019365e+02] [ 2.37520333e-01 8.35845840e-01 4.94920017e-01 -7.17037762e+01] [-9.16170177e-01 2.34370398e-02 4.00103627e-01 -2.99380547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.03, Y:-71.70, Z:-29.97 [[ 3.21149862e-01 -5.55381352e-01 7.67081691e-01 1.53034272e+02] [ 2.36762802e-01 8.31351738e-01 5.02789880e-01 -7.16992804e+01] [-9.16954820e-01 2.01455096e-02 3.98482141e-01 -2.99663168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.03, Y:-71.69, Z:-30.00 [[ 3.16798792e-01 -5.42605144e-01 7.77957700e-01 1.53027332e+02] [ 2.39172451e-01 8.39398994e-01 4.88063385e-01 -7.16885592e+01] [-9.17842614e-01 3.14481588e-02 3.95696790e-01 -2.99995345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:153.06, Y:-71.69, Z:-30.03 [[ 3.16118429e-01 -5.67107631e-01 7.60564313e-01 1.53055619e+02] [ 2.39785877e-01 8.23405848e-01 5.14301023e-01 -7.16888425e+01] [-9.17917138e-01 1.97925493e-02 3.96278164e-01 -3.00256806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.06, Y:-71.68, Z:-30.06 [[ 3.14337850e-01 -5.62316391e-01 7.64847692e-01 1.53058845e+02] [ 2.40109531e-01 8.26584149e-01 5.09024615e-01 -7.16804466e+01] [-9.18443863e-01 2.36415172e-02 3.94844209e-01 -3.00561378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.08, Y:-71.68, Z:-30.08 [[ 3.12590513e-01 -5.75519044e-01 7.55688429e-01 1.53079291e+02] [ 2.38344406e-01 8.17626199e-01 5.24098601e-01 -7.16771108e+01] [-9.19499383e-01 1.62858588e-02 3.92753937e-01 -3.00825349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.08, Y:-71.67, Z:-30.11 [[ 3.10692926e-01 -5.70888203e-01 7.59971424e-01 1.53083143e+02] [ 2.37988669e-01 8.20795571e-01 5.19284146e-01 -7.16683767e+01] [-9.20234372e-01 1.95266767e-02 3.90880301e-01 -3.01140221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.09, Y:-71.66, Z:-30.14 [[ 3.09460718e-01 -5.73114451e-01 7.58797661e-01 1.53093287e+02] [ 2.37372149e-01 8.19264539e-01 5.21977085e-01 -7.16624179e+01] [-9.20808627e-01 1.85860284e-02 3.89571601e-01 -3.01439570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.10, Y:-71.66, Z:-30.18 [[ 3.09734905e-01 -5.71673867e-01 7.59771860e-01 1.53100173e+02] [ 2.39402335e-01 8.20213008e-01 5.19554755e-01 -7.16552127e+01] [-9.20190638e-01 2.09669143e-02 3.90908657e-01 -3.01759133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.12, Y:-71.65, Z:-30.21 [[ 3.10152694e-01 -5.76721096e-01 7.55776477e-01 1.53115274e+02] [ 2.39256897e-01 8.16743305e-01 5.25058579e-01 -7.16493354e+01] [-9.20087737e-01 1.79764021e-02 3.91299636e-01 -3.02057449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.13, Y:-71.64, Z:-30.24 [[ 3.11401334e-01 -5.74977553e-01 7.56591054e-01 1.53126180e+02] [ 2.39054338e-01 8.17972680e-01 5.23233904e-01 -7.16411302e+01] [-9.19718562e-01 1.79306379e-02 3.92168662e-01 -3.02370250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.13, Y:-71.63, Z:-30.27 [[ 3.11531859e-01 -5.70873228e-01 7.59639163e-01 1.53132668e+02] [ 2.39059752e-01 8.20795108e-01 5.18792662e-01 -7.16325115e+01] [-9.19672950e-01 1.99787076e-02 3.92176638e-01 -3.02659285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:153.15, Y:-71.63, Z:-30.29 [[ 3.14124937e-01 -5.77812953e-01 7.53297893e-01 1.53152483e+02] [ 2.39358040e-01 8.16030619e-01 5.26119528e-01 -7.16264325e+01] [-9.18712824e-01 1.50406436e-02 3.94639743e-01 -3.02949331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-71.62, Z:-30.32 [[ 3.18751514e-01 -5.78626096e-01 7.50725858e-01 1.53169717e+02] [ 2.40355129e-01 8.15495299e-01 5.26494852e-01 -7.16177316e+01] [-9.16857069e-01 1.26197791e-02 3.99016111e-01 -3.03220094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:-71.60, Z:-30.35 [[ 3.17409746e-01 -5.38295716e-01 7.80697621e-01 1.53145785e+02] [ 2.41667120e-01 8.42004693e-01 4.82312243e-01 -7.15957875e+01] [-9.16977675e-01 3.55783392e-02 3.97348871e-01 -3.03543628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:153.18, Y:-71.60, Z:-30.38 [[ 3.16802568e-01 -5.70112712e-01 7.58028778e-01 1.53179509e+02] [ 2.41071948e-01 8.21347735e-01 5.16983766e-01 -7.15993738e+01] [-9.17344237e-01 1.89576895e-02 3.97643254e-01 -3.03780835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:153.18, Y:-71.59, Z:-30.42 [[ 3.14026641e-01 -5.61107498e-01 7.65862680e-01 1.53178443e+02] [ 2.39889586e-01 8.27387557e-01 5.07821639e-01 -7.15930549e+01] [-9.18607781e-01 2.42529579e-02 3.94425580e-01 -3.04150577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:-71.59, Z:-30.44 [[ 3.15151527e-01 -5.63760550e-01 7.63448464e-01 1.53192921e+02] [ 2.40504379e-01 8.25624590e-01 5.10393653e-01 -7.15861093e+01] [-9.18061631e-01 2.27613597e-02 3.95783731e-01 -3.04442770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:-71.57, Z:-30.47 [[ 3.17168369e-01 -5.58759100e-01 7.66284865e-01 1.53202289e+02] [ 2.41656844e-01 8.28947389e-01 5.04428584e-01 -7.15744870e+01] [-9.17063899e-01 2.51891905e-02 3.97943852e-01 -3.04681954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:-71.57, Z:-30.50 [[ 3.15680646e-01 -5.69633444e-01 7.58856685e-01 1.53219615e+02] [ 2.42051683e-01 8.21636375e-01 5.16066517e-01 -7.15713030e+01] [-9.17473004e-01 2.07703260e-02 3.97255436e-01 -3.04954977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.23, Y:-71.56, Z:-30.52 [[ 3.15453868e-01 -5.69433410e-01 7.59101080e-01 1.53229430e+02] [ 2.42836507e-01 8.21750574e-01 5.15515689e-01 -7.15645246e+01] [-9.17343604e-01 2.17160367e-02 3.97503617e-01 -3.05249488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:-71.56, Z:-30.55 [[ 3.14362766e-01 -5.69805648e-01 7.59274374e-01 1.53238460e+02] [ 2.43995946e-01 8.21451284e-01 5.15445212e-01 -7.15586151e+01] [-9.17410502e-01 2.32230866e-02 3.97263966e-01 -3.05509279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:-71.55, Z:-30.58 [[ 3.12525296e-01 -5.70966445e-01 7.59160891e-01 1.53249194e+02] [ 2.46658525e-01 8.20557930e-01 5.15600869e-01 -7.15516616e+01] [-9.17326284e-01 2.61151918e-02 3.97278851e-01 -3.05809153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.26, Y:-71.55, Z:-30.61 [[ 3.11326535e-01 -5.71350282e-01 7.59364632e-01 1.53258578e+02] [ 2.47819885e-01 8.20239366e-01 5.15550858e-01 -7.15455077e+01] [-9.17420892e-01 2.76809936e-02 3.96954241e-01 -3.06077534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:-71.54, Z:-30.64 [[ 3.10100235e-01 -5.71982650e-01 7.59390343e-01 1.53269700e+02] [ 2.49130440e-01 8.19743462e-01 5.15707940e-01 -7.15384019e+01] [-9.17481263e-01 2.92660967e-02 3.96700929e-01 -3.06378847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.28, Y:-71.53, Z:-30.67 [[ 3.08922394e-01 -5.72295650e-01 7.59634546e-01 1.53280420e+02] [ 2.50283818e-01 8.19466981e-01 5.15588864e-01 -7.15313062e+01] [-9.17564693e-01 3.08472884e-02 3.96388042e-01 -3.06683569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:-71.52, Z:-30.70 [[ 3.06510698e-01 -5.72942965e-01 7.60123378e-01 1.53290666e+02] [ 2.52002623e-01 8.18910113e-01 5.15636408e-01 -7.15239187e+01] [-9.17902974e-01 3.35050097e-02 3.95387841e-01 -3.06983465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-71.52, Z:-30.73 [[ 3.06082465e-01 -5.72963759e-01 7.60280248e-01 1.53301555e+02] [ 2.52506622e-01 8.18866712e-01 5.15458741e-01 -7.15166615e+01] [-9.17907365e-01 3.42029156e-02 3.95317885e-01 -3.07284085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.33, Y:-71.51, Z:-30.76 [[ 3.09809657e-01 -5.88144295e-01 7.47063762e-01 1.53330732e+02] [ 2.52739579e-01 8.08396495e-01 5.31618108e-01 -7.15148664e+01] [-9.16591884e-01 2.41121566e-02 3.99096382e-01 -3.07585246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.31, Y:-71.49, Z:-30.80 [[ 3.10294356e-01 -5.43068934e-01 7.80252232e-01 1.53305516e+02] [ 2.53460216e-01 8.38315714e-01 4.82684869e-01 -7.14926348e+01] [-9.16228864e-01 4.79885085e-02 3.97771004e-01 -3.07986511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-71.48, Z:-30.82 [[ 3.07018651e-01 -5.35413183e-01 7.86811459e-01 1.53304043e+02] [ 2.52877118e-01 8.42915730e-01 4.74917082e-01 -7.14809504e+01] [-9.17492622e-01 5.31582124e-02 3.94184593e-01 -3.08243413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-71.49, Z:-30.85 [[ 3.11331005e-01 -5.90497394e-01 7.44570905e-01 1.53364078e+02] [ 2.51016774e-01 8.06782276e-01 5.34876563e-01 -7.14917994e+01] [-9.16549826e-01 2.03761288e-02 3.99401088e-01 -3.08469854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.32, Y:-71.46, Z:-30.88 [[ 3.09037331e-01 -5.24665104e-01 7.93235436e-01 1.53315543e+02] [ 2.50140252e-01 8.49537488e-01 4.64452270e-01 -7.14604749e+01] [-9.17565138e-01 5.48870223e-02 3.93778659e-01 -3.08846237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:-71.48, Z:-30.90 [[ 3.12508054e-01 -5.83867591e-01 7.49291233e-01 1.53374205e+02] [ 2.47066079e-01 8.11610147e-01 5.29383908e-01 -7.14752029e+01] [-9.17222475e-01 1.96877122e-02 3.97888584e-01 -3.09008287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:153.35, Y:-71.45, Z:-30.93 [[ 3.11176861e-01 -5.44372276e-01 7.78991519e-01 1.53347286e+02] [ 2.45688872e-01 8.37902693e-01 4.87397225e-01 -7.14535221e+01] [-9.18044628e-01 3.97228095e-02 3.94482140e-01 -3.09332625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:-71.46, Z:-30.96 [[ 3.11273598e-01 -5.69950573e-01 7.60437434e-01 1.53375781e+02] [ 2.43550792e-01 8.21309900e-01 5.15880859e-01 -7.14553766e+01] [-9.18581384e-01 2.46250481e-02 3.94464001e-01 -3.09554182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-71.45, Z:-30.98 [[ 3.16909096e-01 -5.86688914e-01 7.45227981e-01 1.53407104e+02] [ 2.42202332e-01 8.09736109e-01 5.34476813e-01 -7.14533357e+01] [-9.17009627e-01 1.11153914e-02 3.98710162e-01 -3.09830915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15361786499997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:153.40, Y:-71.43, Z:-31.02 [[ 3.21164722e-01 -5.54223315e-01 7.67912586e-01 1.53396608e+02] [ 2.39392120e-01 8.32046731e-01 5.00389498e-01 -7.14339945e+01] [-9.16266683e-01 2.31247677e-02 3.99900751e-01 -3.10192207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:-71.41, Z:-31.05 [[ 3.23148688e-01 -5.12582562e-01 7.95508669e-01 1.53370860e+02] [ 2.39116068e-01 8.57558206e-01 4.55431037e-01 -7.14137029e+01] [-9.15640995e-01 4.30469631e-02 3.99685536e-01 -3.10546324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-71.42, Z:-31.07 [[ 3.22786194e-01 -5.53042989e-01 7.68083671e-01 1.53410370e+02] [ 2.36012200e-01 8.32919574e-01 5.00542929e-01 -7.14213559e+01] [-9.16573682e-01 1.97087699e-02 3.99379832e-01 -3.10696803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:-71.42, Z:-31.10 [[ 3.22560705e-01 -5.64365410e-01 7.59898859e-01 1.53428378e+02] [ 2.33436231e-01 8.25443508e-01 5.13955777e-01 -7.14175273e+01] [-9.17312443e-01 1.16059877e-02 3.97998975e-01 -3.10976745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:-71.41, Z:-31.12 [[ 3.25408140e-01 -5.75667279e-01 7.50144470e-01 1.53450537e+02] [ 2.32931566e-01 8.17676877e-01 5.26447919e-01 -7.14131123e+01] [-9.16434628e-01 3.42188858e-03 4.00169792e-01 -3.11245764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:-71.40, Z:-31.16 [[ 3.23805180e-01 -5.64903783e-01 7.58968986e-01 1.53453730e+02] [ 2.29005845e-01 8.25130542e-01 5.16445458e-01 -7.14012878e+01] [-9.17990484e-01 6.58061929e-03 3.96547812e-01 -3.11579673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:-71.39, Z:-31.19 [[ 3.26118758e-01 -5.36045028e-01 7.78654149e-01 1.53441434e+02] [ 2.27480376e-01 8.43981844e-01 4.85744094e-01 -7.13854844e+01] [-9.17550671e-01 1.87182781e-02 3.97178036e-01 -3.11885699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.48, Y:-71.39, Z:-31.22 [[ 3.28052448e-01 -5.66911469e-01 7.55640773e-01 1.53479553e+02] [ 2.28243648e-01 8.23775704e-01 5.18939714e-01 -7.13864088e+01] [-9.16671385e-01 2.23076332e-03 3.99635578e-01 -3.12151152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39361786499995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:153.47, Y:-71.37, Z:-31.25 [[ 3.27036436e-01 -5.40393319e-01 7.75256235e-01 1.53469368e+02] [ 2.27852324e-01 8.41254551e-01 4.90279613e-01 -7.13709864e+01] [-9.17131663e-01 1.63046380e-02 3.98250764e-01 -3.12497856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:-71.36, Z:-31.28 [[ 3.25634246e-01 -5.40454715e-01 7.75803480e-01 1.53478839e+02] [ 2.27940632e-01 8.41197952e-01 4.90335675e-01 -7.13640905e+01] [-9.17608525e-01 1.71670471e-02 3.97114450e-01 -3.12792102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:153.49, Y:-71.36, Z:-31.30 [[ 3.24792107e-01 -5.40979848e-01 7.75790494e-01 1.53487973e+02] [ 2.27549935e-01 8.40863145e-01 4.91090825e-01 -7.13590385e+01] [-9.18003875e-01 1.70286527e-02 3.96205642e-01 -3.13033425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:153.52, Y:-71.36, Z:-31.33 [[ 3.23888739e-01 -5.71707697e-01 7.53821195e-01 1.53522891e+02] [ 2.30222151e-01 8.20447388e-01 5.23320022e-01 -7.13605887e+01] [-9.17656715e-01 4.04887492e-03 3.97353445e-01 -3.13306513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.51, Y:-71.34, Z:-31.36 [[ 3.23645287e-01 -5.37660366e-01 7.78572450e-01 1.53506024e+02] [ 2.31172556e-01 8.42855692e-01 4.85956306e-01 -7.13446069e+01] [-9.17503666e-01 2.27071151e-02 3.97078593e-01 -3.13639095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:153.53, Y:-71.35, Z:-31.39 [[ 3.19980376e-01 -5.61810965e-01 7.62876791e-01 1.53532060e+02] [ 2.33211562e-01 8.27142050e-01 5.11320248e-01 -7.13453751e+01] [-9.18272795e-01 1.42992429e-02 3.95690037e-01 -3.13916809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-71.33, Z:-31.42 [[ 3.20656131e-01 -5.43258468e-01 7.75918734e-01 1.53527740e+02] [ 2.33765372e-01 8.39223869e-01 4.90975610e-01 -7.13338261e+01] [-9.17896180e-01 2.39485920e-02 3.96097296e-01 -3.14213843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:-71.33, Z:-31.45 [[ 3.16756812e-01 -5.61192797e-01 7.64674942e-01 1.53548910e+02] [ 2.34684043e-01 8.27491835e-01 5.10079076e-01 -7.13333095e+01] [-9.19014974e-01 1.78859849e-02 3.93816669e-01 -3.14507526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:153.55, Y:-71.32, Z:-31.48 [[ 3.15093765e-01 -5.46996112e-01 7.75571514e-01 1.53545983e+02] [ 2.37841776e-01 8.36633186e-01 4.93433077e-01 -7.13227827e+01] [-9.18774841e-01 2.89856201e-02 3.93716427e-01 -3.14819349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66361786499996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:153.55, Y:-71.31, Z:-31.51 [[ 3.14900765e-01 -5.38014698e-01 7.81906448e-01 1.53546074e+02] [ 2.41614898e-01 8.42118874e-01 4.82139030e-01 -7.13138729e+01] [-9.17856062e-01 3.70942975e-02 3.95176244e-01 -3.15143038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69361786499996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:153.57, Y:-71.32, Z:-31.54 [[ 3.10238792e-01 -5.60866836e-01 7.67580800e-01 1.53570567e+02] [ 2.40141348e-01 8.27470181e-01 5.07567959e-01 -7.13159273e+01] [-9.19828258e-01 2.68606177e-02 3.91400668e-01 -3.15388239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72361786499997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:153.58, Y:-71.31, Z:-31.57 [[ 3.07130460e-01 -5.60293168e-01 7.69247975e-01 1.53576731e+02] [ 2.41065931e-01 8.27757108e-01 5.06661018e-01 -7.13094447e+01] [-9.20629186e-01 2.98284479e-02 3.89297015e-01 -3.15694737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.60, Y:-71.31, Z:-31.60 [[ 3.05292441e-01 -5.73025643e-01 7.60551206e-01 1.53596214e+02] [ 2.42196123e-01 8.19141689e-01 5.19949931e-01 -7.13074105e+01] [-9.20943844e-01 2.54657699e-02 3.88862355e-01 -3.15969931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.60, Y:-71.30, Z:-31.63 [[ 3.04899726e-01 -5.69686922e-01 7.63212269e-01 1.53603606e+02] [ 2.42244776e-01 8.21403251e-01 5.16346945e-01 -7.12996444e+01] [-9.21061141e-01 2.74501431e-02 3.88449307e-01 -3.16275333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.61, Y:-71.29, Z:-31.66 [[ 3.03866262e-01 -5.72145509e-01 7.61783966e-01 1.53614800e+02] [ 2.42212433e-01 8.19714304e-01 5.19039110e-01 -7.12938987e+01] [-9.21411109e-01 2.67950737e-02 3.87664277e-01 -3.16569999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84361786499997 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:153.64, Y:-71.29, Z:-31.68 [[ 3.05350268e-01 -5.83872488e-01 7.52232764e-01 1.53637442e+02] [ 2.41835482e-01 8.11610355e-01 5.31793411e-01 -7.12912163e+01] [-9.21019443e-01 1.95333119e-02 3.89026524e-01 -3.16770829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.64, Y:-71.28, Z:-31.71 [[ 3.04275254e-01 -5.74276352e-01 7.60015291e-01 1.53639115e+02] [ 2.42677625e-01 8.18252548e-01 5.21124110e-01 -7.12813266e+01] [-9.21153701e-01 2.58735349e-02 3.88338023e-01 -3.17054665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.65, Y:-71.27, Z:-31.73 [[ 3.03182958e-01 -5.70414853e-01 7.63352468e-01 1.53646311e+02] [ 2.42364613e-01 8.20871707e-01 5.17135413e-01 -7.12739575e+01] [-9.21596163e-01 2.82229817e-02 3.87122688e-01 -3.17335583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-71.27, Z:-31.76 [[ 3.03028155e-01 -5.70385751e-01 7.63435677e-01 1.53656850e+02] [ 2.42173236e-01 8.20894068e-01 5.17189572e-01 -7.12667084e+01] [-9.21697381e-01 2.81606866e-02 3.86886177e-01 -3.17635682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:-71.26, Z:-31.79 [[ 3.03241106e-01 -5.69830658e-01 7.63765575e-01 1.53667413e+02] [ 2.40902478e-01 8.21312483e-01 5.17118749e-01 -7.12592462e+01] [-9.21960318e-01 2.71813588e-02 3.86329323e-01 -3.17943634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-71.25, Z:-31.83 [[ 2.98536549e-01 -5.56346538e-01 7.75470476e-01 1.53657686e+02] [ 2.39605852e-01 8.30190202e-01 5.03361962e-01 -7.12507658e+01] [-9.23831675e-01 3.55353209e-02 3.81146004e-01 -3.18305129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:153.68, Y:-71.24, Z:-31.85 [[ 3.04287321e-01 -5.66964943e-01 7.65480229e-01 1.53680722e+02] [ 2.40047979e-01 8.23291464e-01 5.14361869e-01 -7.12449441e+01] [-9.21838486e-01 2.72381869e-02 3.86615942e-01 -3.18524221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:-71.24, Z:-31.88 [[ 3.02563799e-01 -5.65386691e-01 7.67328506e-01 1.53687188e+02] [ 2.34573218e-01 8.24471617e-01 5.14997048e-01 -7.12398325e+01] [-9.23813051e-01 2.41752537e-02 3.82079840e-01 -3.18762637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:-71.23, Z:-31.91 [[ 3.04713928e-01 -5.66930275e-01 7.65336191e-01 1.53697761e+02] [ 2.30961367e-01 8.23549122e-01 5.18096217e-01 -7.12331302e+01] [-9.24016379e-01 1.88919591e-02 3.81885879e-01 -3.19052608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:-71.23, Z:-31.94 [[ 3.06138081e-01 -5.65938024e-01 7.65502206e-01 1.53707122e+02] [ 2.29238419e-01 8.24272673e-01 5.17710641e-01 -7.12258108e+01] [-9.23974687e-01 1.69915728e-02 3.82075992e-01 -3.19351512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.72, Y:-71.22, Z:-31.97 [[ 3.07505182e-01 -5.65091912e-01 7.65579319e-01 1.53716663e+02] [ 2.27445310e-01 8.24891792e-01 5.17515374e-01 -7.12183340e+01] [-9.23963849e-01 1.49887663e-02 3.82186006e-01 -3.19659227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17361786499995 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:153.72, Y:-71.21, Z:-32.00 [[ 3.12114615e-01 -5.51070617e-01 7.73889942e-01 1.53715640e+02] [ 2.27932884e-01 8.34226520e-01 5.02108269e-01 -7.12055553e+01] [-9.22296627e-01 1.96796371e-02 3.85981404e-01 -3.19956901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499996 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:153.73, Y:-71.20, Z:-32.02 [[ 3.12034199e-01 -5.55441362e-01 7.70791510e-01 1.53727920e+02] [ 2.28405555e-01 8.31361545e-01 5.06624994e-01 -7.12004252e+01] [-9.22206897e-01 1.79687382e-02 3.86279126e-01 -3.20214463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.74, Y:-71.20, Z:-32.04 [[ 3.09759786e-01 -5.68004122e-01 7.62509142e-01 1.53744724e+02] [ 2.24356519e-01 8.22971916e-01 5.21901694e-01 -7.11995730e+01] [-9.23965923e-01 9.40973918e-03 3.82359032e-01 -3.20430053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-71.19, Z:-32.07 [[ 3.09636591e-01 -5.64757800e-01 7.64966541e-01 1.53750844e+02] [ 2.23482752e-01 8.25192058e-01 5.18761531e-01 -7.11918902e+01] [-9.24218936e-01 1.03292758e-02 3.81723283e-01 -3.20699960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29361786499996 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:153.76, Y:-71.18, Z:-32.10 [[ 3.10756470e-01 -5.60984363e-01 7.67285450e-01 1.53756431e+02] [ 2.25478393e-01 8.27719157e-01 5.13848704e-01 -7.11834585e+01] [-9.23357954e-01 1.33244809e-02 3.83708936e-01 -3.20977985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:-71.18, Z:-32.12 [[ 3.10016641e-01 -5.66476193e-01 7.63540703e-01 1.53768895e+02] [ 2.22263063e-01 8.24037777e-01 5.21115028e-01 -7.11798160e+01] [-9.24385641e-01 8.15256446e-03 3.81372157e-01 -3.21220153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-71.17, Z:-32.15 [[ 3.10020573e-01 -5.65422440e-01 7.64319769e-01 1.53777620e+02] [ 2.21460847e-01 8.24763053e-01 5.20308562e-01 -7.11723483e+01] [-9.24576842e-01 7.96054514e-03 3.80912447e-01 -3.21518824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38361786499996 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:153.78, Y:-71.16, Z:-32.18 [[ 3.10505305e-01 -5.62444885e-01 7.66317302e-01 1.53784285e+02] [ 2.22720357e-01 8.26770915e-01 5.16570902e-01 -7.11646801e+01] [-9.24111518e-01 1.02764573e-02 3.81984680e-01 -3.21791610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:-71.16, Z:-32.20 [[ 3.09652076e-01 -5.67514735e-01 7.62917176e-01 1.53795769e+02] [ 2.21281810e-01 8.23333636e-01 5.22643363e-01 -7.11597858e+01] [-9.24743182e-01 6.98209184e-03 3.80527657e-01 -3.22044328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44361786499996 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:153.80, Y:-71.15, Z:-32.23 [[ 3.12244928e-01 -5.56741789e-01 7.69767293e-01 1.53796366e+02] [ 2.23270256e-01 8.30590509e-01 5.10166442e-01 -7.11494785e+01] [-9.23392386e-01 1.25692566e-02 3.83651555e-01 -3.22307800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:-71.15, Z:-32.25 [[ 3.09403911e-01 -5.77115481e-01 7.55782337e-01 1.53819300e+02] [ 2.21662234e-01 8.16658216e-01 5.32855714e-01 -7.11501457e+01] [-9.24735137e-01 2.66075960e-03 3.80601953e-01 -3.22542914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:-71.14, Z:-32.28 [[ 3.09380477e-01 -5.67250001e-01 7.63224185e-01 1.53820460e+02] [ 2.22790646e-01 8.23500500e-01 5.21738685e-01 -7.11400555e+01] [-9.24471767e-01 8.62344641e-03 3.81152972e-01 -3.22845788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:-71.13, Z:-32.31 [[ 3.08904971e-01 -5.67506298e-01 7.63226258e-01 1.53828506e+02] [ 2.23468832e-01 8.23315522e-01 5.21740580e-01 -7.11344959e+01] [-9.24467090e-01 9.38902162e-03 3.81146227e-01 -3.23098995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:-71.13, Z:-32.34 [[ 3.08413870e-01 -5.68021835e-01 7.63041335e-01 1.53837754e+02] [ 2.24318562e-01 8.22950434e-01 5.21951881e-01 -7.11283027e+01] [-9.24425263e-01 1.01871357e-02 3.81227169e-01 -3.23365624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.85, Y:-71.12, Z:-32.36 [[ 3.07224047e-01 -5.69286307e-01 7.62578839e-01 1.53846518e+02] [ 2.26776838e-01 8.22044813e-01 5.22316563e-01 -7.11224271e+01] [-9.24221646e-01 1.24670099e-02 3.81652883e-01 -3.23624242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.86, Y:-71.12, Z:-32.39 [[ 3.06653556e-01 -5.70128541e-01 7.62179142e-01 1.53855349e+02] [ 2.27790496e-01 8.21447934e-01 5.22814290e-01 -7.11167722e+01] [-9.24161829e-01 1.32943035e-02 3.81769793e-01 -3.23871032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-71.11, Z:-32.42 [[ 3.05803613e-01 -5.70804127e-01 7.62014960e-01 1.53865842e+02] [ 2.29049952e-01 8.20956568e-01 5.23035786e-01 -7.11098537e+01] [-9.24132171e-01 1.45932567e-02 3.81794142e-01 -3.24177134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:-71.10, Z:-32.45 [[ 3.04317518e-01 -5.71534095e-01 7.62062744e-01 1.53876001e+02] [ 2.31658494e-01 8.20392762e-01 5.22771517e-01 -7.11038611e+01] [-9.23972505e-01 1.74497769e-02 3.82060617e-01 -3.24469304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.87, Y:-71.10, Z:-32.47 [[ 3.01367790e-01 -5.64462559e-01 7.68478676e-01 1.53869691e+02] [ 2.30621331e-01 8.25170138e-01 5.15662723e-01 -7.10991969e+01] [-9.25197955e-01 2.18234398e-02 3.78856808e-01 -3.24717359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:153.91, Y:-71.10, Z:-32.50 [[ 2.99057484e-01 -5.98612527e-01 7.43120221e-01 1.53907236e+02] [ 2.31998938e-01 8.01004911e-01 5.51876458e-01 -7.11030430e+01] [-9.25603108e-01 7.36031744e-03 3.78423985e-01 -3.24978328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:-71.09, Z:-32.53 [[ 2.98412726e-01 -5.73851200e-01 7.62656309e-01 1.53897865e+02] [ 2.32807444e-01 8.18692633e-01 5.24921962e-01 -7.10892029e+01] [-9.25608199e-01 2.09086723e-02 3.77905132e-01 -3.25326258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.91, Y:-71.08, Z:-32.56 [[ 2.97161963e-01 -5.74695176e-01 7.62509162e-01 1.53908790e+02] [ 2.34073334e-01 8.18061722e-01 5.25342453e-01 -7.10835295e+01] [-9.25691332e-01 2.23712671e-02 3.77617643e-01 -3.25628758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.94, Y:-71.08, Z:-32.59 [[ 3.02709003e-01 -5.84599099e-01 7.52735779e-01 1.53936518e+02] [ 2.34920241e-01 8.11188674e-01 5.35523496e-01 -7.10778692e+01] [-9.23677292e-01 1.47250872e-02 3.82888276e-01 -3.25875174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.93, Y:-71.07, Z:-32.62 [[ 3.04812803e-01 -5.61393819e-01 7.69367361e-01 1.53927855e+02] [ 2.34870611e-01 8.27168362e-01 5.10517675e-01 -7.10651035e+01] [-9.22997807e-01 2.50894583e-02 3.83986416e-01 -3.26167257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89361786499995 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:153.95, Y:-71.07, Z:-32.64 [[ 3.03488025e-01 -5.80096584e-01 7.55898784e-01 1.53949682e+02] [ 2.32828285e-01 8.14415347e-01 5.31524819e-01 -7.10671132e+01] [-9.23951302e-01 1.46831998e-02 3.82228198e-01 -3.26380021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499995 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:153.96, Y:-71.06, Z:-32.66 [[ 3.06920941e-01 -5.77067493e-01 7.56830658e-01 1.53957235e+02] [ 2.31011334e-01 8.16600976e-01 5.28958041e-01 -7.10625962e+01] [-9.23273145e-01 1.24881595e-02 3.83941072e-01 -3.26611321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.99, Y:-71.06, Z:-32.69 [[ 3.03281577e-01 -6.07919482e-01 7.33794377e-01 1.53990765e+02] [ 2.30549818e-01 7.93997406e-01 5.62507689e-01 -7.10643201e+01] [-9.24590215e-01 -1.42205851e-03 3.80960511e-01 -3.26870302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499996 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:153.96, Y:-71.04, Z:-32.72 [[ 3.08391604e-01 -5.57578912e-01 7.70714199e-01 1.53961924e+02] [ 2.30635816e-01 8.29856584e-01 5.08079886e-01 -7.10428554e+01] [-9.22876882e-01 2.10667271e-02 3.84518470e-01 -3.27199495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:-71.05, Z:-32.75 [[ 3.02872415e-01 -5.84960180e-01 7.52389453e-01 1.53985793e+02] [ 2.28333654e-01 8.11015767e-01 5.38625258e-01 -7.10477173e+01] [-9.25274037e-01 8.66109998e-03 3.79200399e-01 -3.27458952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-71.04, Z:-32.77 [[ 3.09367118e-01 -5.73015248e-01 7.58910740e-01 1.53995144e+02] [ 2.25938542e-01 8.19500254e-01 5.26660336e-01 -7.10353896e+01] [-9.23711947e-01 8.53579539e-03 3.82992661e-01 -3.27744580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07361786499996 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:153.99, Y:-71.02, Z:-32.80 [[ 3.15993824e-01 -5.46323825e-01 7.75679174e-01 1.53986117e+02] [ 2.27115117e-01 8.37357544e-01 4.97243468e-01 -7.10206644e+01] [-9.21176762e-01 1.90426015e-02 3.88678212e-01 -3.28027436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10361786499996 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:153.99, Y:-71.02, Z:-32.84 [[ 3.07100990e-01 -5.51802107e-01 7.75373082e-01 1.53991373e+02] [ 2.21391500e-01 8.33814636e-01 5.05706393e-01 -7.10223698e+01] [-9.25567278e-01 1.63580753e-02 3.78229596e-01 -3.28391890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13361786499996 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:154.03, Y:-71.03, Z:-32.85 [[ 3.12238002e-01 -5.80262637e-01 7.52198579e-01 1.54032074e+02] [ 2.12727642e-01 8.14384287e-01 5.39930720e-01 -7.10272811e+01] [-9.25880327e-01 -8.57345931e-03 3.77719626e-01 -3.28527352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.02, Y:-71.01, Z:-32.88 [[ 3.10020643e-01 -5.61897402e-01 7.66914930e-01 1.54020733e+02] [ 2.23806712e-01 8.27122573e-01 5.15537394e-01 -7.10107188e+01] [-9.24011773e-01 1.18134743e-02 3.82181482e-01 -3.28835965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:-71.01, Z:-32.91 [[ 3.11933065e-01 -5.56687053e-01 7.69933301e-01 1.54024370e+02] [ 2.24154986e-01 8.30611315e-01 5.09744432e-01 -7.10053701e+01] [-9.23283437e-01 1.35782450e-02 3.83879312e-01 -3.29092182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22361786499997 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:154.06, Y:-71.00, Z:-32.93 [[ 3.11956940e-01 -5.90979266e-01 7.43926324e-01 1.54064246e+02] [ 2.30817446e-01 8.06684285e-01 5.44043905e-01 -7.10026455e+01] [-9.21632342e-01 1.99290244e-03 3.88059086e-01 -3.29341907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25361786499997 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:154.04, Y:-70.98, Z:-32.97 [[ 3.10053988e-01 -5.50143013e-01 7.75376805e-01 1.54042208e+02] [ 2.34881904e-01 8.34612968e-01 4.98248618e-01 -7.09813115e+01] [-9.21247532e-01 2.76380090e-02 3.87993717e-01 -3.29713413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:154.05, Y:-70.98, Z:-32.99 [[ 3.06771242e-01 -5.55882907e-01 7.72583717e-01 1.54054277e+02] [ 2.30627399e-01 8.30946195e-01 5.06299737e-01 -7.09814377e+01] [-9.23418869e-01 2.28607742e-02 3.83112226e-01 -3.29920960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:-70.98, Z:-33.02 [[ 2.98883358e-01 -5.70318453e-01 7.65118030e-01 1.54064193e+02] [ 2.31157719e-01 8.21157544e-01 5.21791527e-01 -7.09822365e+01] [-9.25869779e-01 2.09081345e-02 3.77263837e-01 -3.30218578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-70.98, Z:-33.04 [[ 3.03718928e-01 -6.01215740e-01 7.39117343e-01 1.54110650e+02] [ 2.32901701e-01 7.99077739e-01 5.54284733e-01 -7.09842986e+01] [-9.23856921e-01 3.79492116e-03 3.82719203e-01 -3.30432088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.10, Y:-70.97, Z:-33.08 [[ 3.03029568e-01 -5.78698012e-01 7.57153678e-01 1.54103705e+02] [ 2.34364822e-01 8.15364102e-01 5.29390698e-01 -7.09703162e+01] [-9.23713273e-01 1.70291522e-02 3.82705888e-01 -3.30780878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-70.97, Z:-33.11 [[ 2.94579785e-01 -5.70968375e-01 7.66301419e-01 1.54095651e+02] [ 2.35562438e-01 8.20524981e-01 5.20815795e-01 -7.09654916e+01] [-9.26138806e-01 2.70900250e-02 3.76208775e-01 -3.31088839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-70.97, Z:-33.13 [[ 2.99249116e-01 -6.08426941e-01 7.35028315e-01 1.54148108e+02] [ 2.36335518e-01 7.93587736e-01 5.60681753e-01 -7.09678817e+01] [-9.24443340e-01 5.92977814e-03 3.81273325e-01 -3.31317409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.13, Y:-70.95, Z:-33.17 [[ 2.99054189e-01 -5.78864179e-01 7.58605862e-01 1.54134976e+02] [ 2.37800727e-01 8.15115572e-01 5.28239925e-01 -7.09516482e+01] [-9.24130622e-01 2.24246630e-02 3.81418049e-01 -3.31678481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-70.94, Z:-33.20 [[ 2.98383118e-01 -5.78723706e-01 7.58977198e-01 1.54145007e+02] [ 2.38754723e-01 8.15177817e-01 5.27713283e-01 -7.09448124e+01] [-9.24101562e-01 2.37486559e-02 3.81408317e-01 -3.31973483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:154.15, Y:-70.94, Z:-33.23 [[ 2.96418228e-01 -5.69878785e-01 7.66403552e-01 1.54146180e+02] [ 2.39353189e-01 8.21185162e-01 5.18039554e-01 -7.09370497e+01] [-9.24578977e-01 2.98847677e-02 3.79816555e-01 -3.32272852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-70.93, Z:-33.25 [[ 2.96257010e-01 -5.85767479e-01 7.54392633e-01 1.54168469e+02] [ 2.40497943e-01 8.10151437e-01 5.34617048e-01 -7.09348860e+01] [-9.24333556e-01 2.30458283e-02 3.80888916e-01 -3.32483632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-70.93, Z:-33.28 [[ 2.95993768e-01 -5.80239035e-01 7.58755792e-01 1.54173155e+02] [ 2.41216489e-01 8.14010984e-01 5.28394477e-01 -7.09263705e+01] [-9.24230650e-01 2.66229363e-02 3.80905401e-01 -3.32765659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:-70.92, Z:-33.30 [[ 2.96058462e-01 -5.80859974e-01 7.58255285e-01 1.54181797e+02] [ 2.42043440e-01 8.13555605e-01 5.28717553e-01 -7.09206634e+01] [-9.23993702e-01 2.69994119e-02 3.81453367e-01 -3.33016998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:154.18, Y:-70.91, Z:-33.33 [[ 2.97235776e-01 -5.70876511e-01 7.65343650e-01 1.54176530e+02] [ 2.46008336e-01 8.20297648e-01 5.16325157e-01 -7.09117379e+01] [-9.22567500e-01 3.48106096e-02 3.84262188e-01 -3.33308530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.21, Y:-70.91, Z:-33.35 [[ 2.95602933e-01 -5.99801702e-01 7.43543425e-01 1.54214772e+02] [ 2.42190980e-01 7.99950943e-01 5.49019142e-01 -7.09135236e+01] [-9.24100879e-01 1.77878423e-02 3.81734407e-01 -3.33505275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:-70.90, Z:-33.39 [[ 2.91171543e-01 -5.76759122e-01 7.63261454e-01 1.54198626e+02] [ 2.42970824e-01 8.16253778e-01 5.24113487e-01 -7.08998858e+01] [-9.25302281e-01 3.28433318e-02 3.77805512e-01 -3.33870672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.21, Y:-70.90, Z:-33.41 [[ 2.91172686e-01 -5.86996912e-01 7.55415841e-01 1.54214690e+02] [ 2.41397753e-01 8.09159567e-01 5.35712535e-01 -7.08968685e+01] [-9.25713558e-01 2.63708292e-02 3.77304900e-01 -3.34112305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:-70.89, Z:-33.44 [[ 2.90415353e-01 -6.05335899e-01 7.41098760e-01 1.54240784e+02] [ 2.40665925e-01 7.95789122e-01 5.55697387e-01 -7.08941463e+01] [-9.26141909e-01 1.69741662e-02 3.76793103e-01 -3.34391385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79361786499996 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:154.24, Y:-70.88, Z:-33.47 [[ 2.95906352e-01 -5.86072178e-01 7.54293599e-01 1.54241125e+02] [ 2.41890257e-01 8.09893485e-01 5.34379684e-01 -7.08790762e+01] [-9.24082537e-01 2.43299296e-02 3.81417776e-01 -3.34675557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.24, Y:-70.87, Z:-33.50 [[ 2.93839539e-01 -5.74964120e-01 7.63593207e-01 1.54235062e+02] [ 2.42100682e-01 8.17577787e-01 5.22449828e-01 -7.08696609e+01] [-9.24686750e-01 3.13500196e-02 3.79435885e-01 -3.34955519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:-70.87, Z:-33.52 [[ 2.98727848e-01 -6.01962847e-01 7.40541966e-01 1.54277162e+02] [ 2.38635490e-01 7.98439923e-01 5.52762871e-01 -7.08684602e+01] [-9.24020982e-01 1.15939318e-02 3.82165939e-01 -3.35189830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.27, Y:-70.85, Z:-33.55 [[ 3.00078938e-01 -5.77642760e-01 7.59132052e-01 1.54267836e+02] [ 2.39015647e-01 8.15951811e-01 5.26397343e-01 -7.08527839e+01] [-9.23484787e-01 2.34836829e-02 3.82915611e-01 -3.35543272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-70.84, Z:-33.59 [[ 2.95163146e-01 -5.70038277e-01 7.66769248e-01 1.54259333e+02] [ 2.39502896e-01 8.21044679e-01 5.18193012e-01 -7.08434895e+01] [-9.24941663e-01 3.06919758e-02 3.78867948e-01 -3.35869053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:-70.85, Z:-33.61 [[ 2.95452135e-01 -5.96845752e-01 7.45978005e-01 1.54290821e+02] [ 2.38345117e-01 8.02195208e-01 5.47425295e-01 -7.08452649e+01] [-9.25148443e-01 1.60622426e-02 3.79265557e-01 -3.36125295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.30, Y:-70.84, Z:-33.64 [[ 2.97282465e-01 -5.90869002e-01 7.49997972e-01 1.54295641e+02] [ 2.38900089e-01 8.06557112e-01 5.40733180e-01 -7.08365167e+01] [-9.24418673e-01 1.84240899e-02 3.80933944e-01 -3.36430951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00361786499997 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:154.32, Y:-70.83, Z:-33.67 [[ 3.00388516e-01 -5.99883324e-01 7.41556968e-01 1.54317803e+02] [ 2.40103475e-01 7.99983966e-01 5.49887239e-01 -7.08309792e+01] [-9.23101869e-01 1.28705939e-02 3.84340067e-01 -3.36665437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:-70.82, Z:-33.70 [[ 2.95607371e-01 -5.81528549e-01 7.57918748e-01 1.54305135e+02] [ 2.41612164e-01 8.13092289e-01 5.29626748e-01 -7.08190508e+01] [-9.24250964e-01 2.65608185e-02 3.80860445e-01 -3.36985305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.34, Y:-70.82, Z:-33.72 [[ 3.00742760e-01 -5.98390138e-01 7.42619038e-01 1.54339002e+02] [ 2.41556164e-01 8.01070409e-01 5.47664879e-01 -7.08156855e+01] [-9.22607399e-01 1.46779587e-02 3.85460952e-01 -3.37226134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-70.80, Z:-33.76 [[ 2.99674978e-01 -5.78850839e-01 7.58371027e-01 1.54333145e+02] [ 2.43463923e-01 8.14984669e-01 5.25856737e-01 -7.08015126e+01] [-9.22453374e-01 2.70498789e-02 3.85159808e-01 -3.37564839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:-70.80, Z:-33.78 [[ 2.99539062e-01 -5.78774076e-01 7.58483302e-01 1.54342141e+02] [ 2.43664570e-01 8.15029190e-01 5.25694776e-01 -7.07950442e+01] [-9.22444539e-01 2.73493876e-02 3.85159816e-01 -3.37828203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.35, Y:-70.79, Z:-33.81 [[ 2.98784010e-01 -5.79460916e-01 7.58256660e-01 1.54352315e+02] [ 2.44206840e-01 8.14520892e-01 5.26230688e-01 -7.07877827e+01] [-9.22546007e-01 2.79421477e-02 3.84874138e-01 -3.38125492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:154.36, Y:-70.78, Z:-33.84 [[ 2.97637630e-01 -5.79832022e-01 7.58423805e-01 1.54358881e+02] [ 2.45439858e-01 8.14200194e-01 5.26153325e-01 -7.07807353e+01] [-9.22589355e-01 2.95444021e-02 3.84650505e-01 -3.38445581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:-70.78, Z:-33.87 [[ 2.94656769e-01 -5.82581923e-01 7.57479829e-01 1.54365630e+02] [ 2.42694901e-01 8.12304316e-01 5.30340347e-01 -7.07755444e+01] [-9.24270833e-01 2.75681195e-02 3.80740627e-01 -3.38695683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:154.39, Y:-70.77, Z:-33.90 [[ 2.96901930e-01 -5.97184302e-01 7.45130964e-01 1.54392356e+02] [ 2.43682846e-01 8.01864573e-01 5.45556484e-01 -7.07700196e+01] [-9.23291890e-01 1.95988616e-02 3.83598710e-01 -3.38954102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-70.76, Z:-33.92 [[ 2.96432729e-01 -5.83667621e-01 7.55949565e-01 1.54389235e+02] [ 2.46941136e-01 8.11450843e-01 5.29686327e-01 -7.07564539e+01] [-9.22576670e-01 2.96586808e-02 3.84672134e-01 -3.39229218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-70.75, Z:-33.96 [[ 2.93087002e-01 -5.82048740e-01 7.58498038e-01 1.54389038e+02] [ 2.46655570e-01 8.12512839e-01 5.28189281e-01 -7.07499652e+01] [-9.23721299e-01 3.22823527e-02 3.81702516e-01 -3.39557090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:-70.74, Z:-33.98 [[ 2.97960086e-01 -5.90793132e-01 7.49788812e-01 1.54414149e+02] [ 2.45911453e-01 8.06461229e-01 5.37724691e-01 -7.07434815e+01] [-9.22359661e-01 2.41611610e-02 3.85576054e-01 -3.39809440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:-70.73, Z:-34.01 [[ 2.92178162e-01 -5.73284326e-01 7.65491348e-01 1.54395762e+02] [ 2.44821826e-01 8.18583046e-01 5.19599914e-01 -7.07338912e+01] [-9.24496725e-01 3.55932422e-02 3.79524605e-01 -3.40112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39361786499995 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:154.44, Y:-70.73, Z:-34.03 [[ 2.95087816e-01 -6.04655482e-01 7.39807360e-01 1.54436370e+02] [ 2.45810806e-01 7.96266597e-01 5.52753610e-01 -7.07328056e+01] [-9.23309389e-01 1.87417877e-02 3.83599423e-01 -3.40329561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499995 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:154.42, Y:-70.72, Z:-34.06 [[ 2.95796095e-01 -5.74576318e-01 7.63129560e-01 1.54421222e+02] [ 2.45567689e-01 8.17768030e-01 5.20530459e-01 -7.07155211e+01] [-9.23147432e-01 3.34290855e-02 3.82989968e-01 -3.40644238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45361786499996 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:154.43, Y:-70.71, Z:-34.09 [[ 2.96597979e-01 -5.79495738e-01 7.59087826e-01 1.54433857e+02] [ 2.42439897e-01 8.14504238e-01 5.27072807e-01 -7.07116579e+01] [-9.23716696e-01 2.77044449e-02 3.82073198e-01 -3.40873931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:-70.70, Z:-34.11 [[ 2.95899353e-01 -5.86782444e-01 7.53743947e-01 1.54447021e+02] [ 2.42615216e-01 8.09370565e-01 5.34843104e-01 -7.07038294e+01] [-9.23894707e-01 2.46100225e-02 3.81854576e-01 -3.41134469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-70.70, Z:-34.14 [[ 2.92483818e-01 -5.80812247e-01 7.59677793e-01 1.54443253e+02] [ 2.41320767e-01 8.13535718e-01 5.29078371e-01 -7.06962812e+01] [-9.25320217e-01 2.85791663e-02 3.78108090e-01 -3.41422467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54361786499996 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:154.46, Y:-70.69, Z:-34.17 [[ 2.97118991e-01 -5.86819239e-01 7.53235346e-01 1.54464766e+02] [ 2.40299396e-01 8.09424349e-01 5.35806330e-01 -7.06890476e+01] [-9.24108492e-01 2.18037625e-02 3.81507655e-01 -3.41661832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57361786499996 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:154.47, Y:-70.68, Z:-34.19 [[ 3.00255920e-01 -5.77240259e-01 7.59368202e-01 1.54466924e+02] [ 2.38984452e-01 8.16234676e-01 5.25972799e-01 -7.06773672e+01] [-9.23435333e-01 2.35507472e-02 3.83030740e-01 -3.41933337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-70.67, Z:-34.22 [[ 2.97043506e-01 -5.83931019e-01 7.55506268e-01 1.54473738e+02] [ 2.37351883e-01 8.11538717e-01 5.33918528e-01 -7.06741566e+01] [-9.24894177e-01 2.07238039e-02 3.79659433e-01 -3.42201000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63361786499996 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:154.49, Y:-70.67, Z:-34.24 [[ 3.01555810e-01 -5.87517109e-01 7.50924590e-01 1.54491553e+02] [ 2.37600990e-01 8.09047336e-01 5.37576207e-01 -7.06657815e+01] [-9.23368758e-01 1.63111976e-02 3.83567571e-01 -3.42447824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-70.65, Z:-34.27 [[ 3.08025025e-01 -5.66789274e-01 7.64114195e-01 1.54485828e+02] [ 2.39222358e-01 8.23503097e-01 5.14407731e-01 -7.06482695e+01] [-9.20811190e-01 2.43427454e-02 3.89248228e-01 -3.42737034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.50, Y:-70.65, Z:-34.30 [[ 3.04794083e-01 -5.80018814e-01 7.55432818e-01 1.54500756e+02] [ 2.35241678e-01 8.14445109e-01 5.30415419e-01 -7.06484042e+01] [-9.22909486e-01 1.60418027e-02 3.84682649e-01 -3.42983965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:-70.64, Z:-34.32 [[ 3.05905221e-01 -5.81811303e-01 7.53603081e-01 1.54504915e+02] [ 2.37789068e-01 8.13152686e-01 5.31261770e-01 -7.06410395e+01] [-9.21888472e-01 1.66828245e-02 3.87096020e-01 -3.43247513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:-70.64, Z:-34.35 [[ 3.05899704e-01 -6.00824200e-01 7.38536155e-01 1.54531090e+02] [ 2.35310372e-01 7.99367549e-01 5.52847674e-01 -7.06403092e+01] [-9.22526097e-01 4.66927715e-03 3.85906462e-01 -3.43498893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:-70.63, Z:-34.38 [[ 3.05913980e-01 -5.97900537e-01 7.40899173e-01 1.54538872e+02] [ 2.35546495e-01 8.01544827e-01 5.49585060e-01 -7.06317179e+01] [-9.22461103e-01 6.39045047e-03 3.86037144e-01 -3.43801498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.54, Y:-70.62, Z:-34.41 [[ 3.09346427e-01 -5.87260142e-01 7.47950743e-01 1.54541911e+02] [ 2.39009085e-01 8.09297355e-01 5.36574738e-01 -7.06203996e+01] [-9.20423514e-01 1.27795445e-02 3.90713754e-01 -3.44122015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-70.62, Z:-34.44 [[ 3.06669560e-01 -6.04488659e-01 7.35219180e-01 1.54567231e+02] [ 2.38938295e-01 7.96595564e-01 5.55287312e-01 -7.06176875e+01] [-9.21337220e-01 5.38230145e-03 3.88727100e-01 -3.44381719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-70.61, Z:-34.46 [[ 3.11227848e-01 -6.19561483e-01 7.20611404e-01 1.54598047e+02] [ 2.40977433e-01 7.84937965e-01 5.70790914e-01 -7.06126910e+01] [-9.19275314e-01 -3.99494133e-03 3.93594890e-01 -3.44615554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-70.59, Z:-34.51 [[ 3.03984212e-01 -5.59762135e-01 7.70882579e-01 1.54553769e+02] [ 2.43839691e-01 8.27936988e-01 5.05037175e-01 -7.05863745e+01] [-9.20942889e-01 3.44484419e-02 3.88171999e-01 -3.45050970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:-70.59, Z:-34.53 [[ 3.02547996e-01 -5.92227882e-01 7.46813796e-01 1.54588839e+02] [ 2.44888419e-01 8.05531218e-01 5.39582356e-01 -7.05906920e+01] [-9.21137542e-01 1.96364891e-02 3.88741606e-01 -3.45298372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-70.58, Z:-34.56 [[ 3.03379953e-01 -5.89882346e-01 7.48331091e-01 1.54596012e+02] [ 2.48055529e-01 8.07158437e-01 5.35689941e-01 -7.05834618e+01] [-9.20015793e-01 2.31100756e-02 3.91199266e-01 -3.45578161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:-70.58, Z:-34.59 [[ 3.01890615e-01 -5.97787369e-01 7.42638754e-01 1.54613820e+02] [ 2.51415287e-01 8.01329376e-01 5.42827399e-01 -7.05780833e+01] [-9.19593612e-01 2.28362377e-02 3.92206701e-01 -3.45893441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:-70.57, Z:-34.62 [[ 3.01482267e-01 -5.87811183e-01 7.50723954e-01 1.54618372e+02] [ 2.51700879e-01 8.08493156e-01 5.31963800e-01 -7.05672929e+01] [-9.19649450e-01 2.85802268e-02 3.91698941e-01 -3.46172129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-70.57, Z:-34.64 [[ 2.97081512e-01 -5.99582018e-01 7.43131199e-01 1.54631236e+02] [ 2.51630927e-01 7.99918258e-01 5.44805155e-01 -7.05672176e+01] [-9.21099589e-01 2.51432534e-02 3.88514304e-01 -3.46404273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:-70.56, Z:-34.67 [[ 2.95117614e-01 -6.15133570e-01 7.31106206e-01 1.54654665e+02] [ 2.54455940e-01 7.88152564e-01 5.60417443e-01 -7.05633269e+01] [-9.20954813e-01 2.06452577e-02 3.89122095e-01 -3.46720030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:-70.55, Z:-34.70 [[ 2.93210263e-01 -5.91926888e-01 7.50766476e-01 1.54643190e+02] [ 2.57396712e-01 8.05160855e-01 5.34287311e-01 -7.05486237e+01] [-9.20746802e-01 3.65862996e-02 3.88441461e-01 -3.47049465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:-70.55, Z:-34.72 [[ 2.93573443e-01 -6.12136748e-01 7.34236498e-01 1.54668693e+02] [ 2.55011135e-01 7.90396093e-01 5.56994916e-01 -7.05499989e+01] [-9.21294716e-01 2.37195675e-02 3.88140990e-01 -3.47244443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:-70.54, Z:-34.76 [[ 2.92918160e-01 -6.20043109e-01 7.27836173e-01 1.54687348e+02] [ 2.57927739e-01 7.84246864e-01 5.64296143e-01 -7.05431935e+01] [-9.20691171e-01 2.24365511e-02 3.89646466e-01 -3.47583309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-70.53, Z:-34.79 [[ 2.93442350e-01 -5.94311381e-01 7.48789403e-01 1.54676222e+02] [ 2.58617301e-01 8.03416701e-01 5.36319584e-01 -7.05272657e+01] [-9.20330744e-01 3.62710151e-02 3.89455690e-01 -3.47913822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:-70.52, Z:-34.82 [[ 2.93424367e-01 -6.00189416e-01 7.44093277e-01 1.54691308e+02] [ 2.57623116e-01 7.99203391e-01 5.43050891e-01 -7.05219426e+01] [-9.20615268e-01 3.23512646e-02 3.89128417e-01 -3.48208559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:-70.51, Z:-34.85 [[ 2.95567513e-01 -6.00141436e-01 7.43283325e-01 1.54704010e+02] [ 2.57312201e-01 7.99302733e-01 5.43052089e-01 -7.05138028e+01] [-9.20016454e-01 3.07473132e-02 3.90671635e-01 -3.48503857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-70.51, Z:-34.88 [[ 2.96487889e-01 -5.96083746e-01 7.46176320e-01 1.54708986e+02] [ 2.53330596e-01 8.02404719e-01 5.40342739e-01 -7.05060751e+01] [-9.20824924e-01 2.88242137e-02 3.88909532e-01 -3.48761359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:-70.50, Z:-34.91 [[ 2.98836554e-01 -5.98648166e-01 7.43180386e-01 1.54721649e+02] [ 2.53951126e-01 8.00572500e-01 5.42763759e-01 -7.04991265e+01] [-9.19894309e-01 2.65338443e-02 3.91267703e-01 -3.49080149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.73, Y:-70.49, Z:-34.94 [[ 2.98727834e-01 -5.95872783e-01 7.45451076e-01 1.54729452e+02] [ 2.50583687e-01 8.02685726e-01 5.41205544e-01 -7.04907293e+01] [-9.20852592e-01 2.51247195e-02 3.89100567e-01 -3.49393368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.74, Y:-70.48, Z:-34.97 [[ 3.00132000e-01 -5.92890663e-01 7.47262634e-01 1.54736206e+02] [ 2.46242564e-01 8.04982369e-01 5.39785129e-01 -7.04815454e+01] [-9.21566808e-01 2.20010761e-02 3.87595885e-01 -3.49694392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:-70.48, Z:-35.00 [[ 3.01296770e-01 -5.96032358e-01 7.44288711e-01 1.54749920e+02] [ 2.43544343e-01 8.02774503e-01 5.44278651e-01 -7.04753912e+01] [-9.21903688e-01 1.72779054e-02 3.87033674e-01 -3.49992606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.75, Y:-70.46, Z:-35.03 [[ 3.02366318e-01 -5.83432694e-01 7.53777753e-01 1.54748081e+02] [ 2.41755003e-01 8.11875682e-01 5.31424873e-01 -7.04639216e+01] [-9.22024473e-01 2.15445611e-02 3.86531634e-01 -3.50306533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-70.46, Z:-35.06 [[ 3.05049552e-01 -5.93351666e-01 7.44901719e-01 1.54765558e+02] [ 2.37106297e-01 8.04872670e-01 5.44022599e-01 -7.04603045e+01] [-9.22347751e-01 1.06670383e-02 3.86213464e-01 -3.50583288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-70.45, Z:-35.08 [[ 3.14710259e-01 -5.97062482e-01 7.37884711e-01 1.54790146e+02] [ 2.35257585e-01 8.02194239e-01 5.48760669e-01 -7.04527291e+01] [-9.19571271e-01 8.92362868e-04 3.92922234e-01 -3.50818946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-70.45, Z:-35.12 [[ 3.10639781e-01 -5.92745587e-01 7.43071730e-01 1.54789226e+02] [ 2.31268918e-01 8.05386447e-01 5.45772259e-01 -7.04451324e+01] [-9.21963998e-01 2.31081957e-03 3.87268700e-01 -3.51173181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-70.44, Z:-35.15 [[ 3.10188835e-01 -5.85324186e-01 7.49118471e-01 1.54793485e+02] [ 2.28764822e-01 8.10788234e-01 5.38784832e-01 -7.04353236e+01] [-9.22740236e-01 4.24691458e-03 3.85399041e-01 -3.51480731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:-70.43, Z:-35.18 [[ 3.11483818e-01 -5.82703072e-01 7.50623049e-01 1.54800744e+02] [ 2.27597371e-01 8.12676480e-01 5.36429283e-01 -7.04273146e+01] [-9.22592688e-01 3.75079158e-03 3.85757260e-01 -3.51778934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62361786499997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.81, Y:-70.42, Z:-35.21 [[ 3.11282396e-01 -5.84523361e-01 7.49290137e-01 1.54811177e+02] [ 2.25657957e-01 8.11375937e-01 5.39210141e-01 -7.04214456e+01] [-9.23136911e-01 1.23665729e-03 3.84469393e-01 -3.52078995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:-70.42, Z:-35.24 [[ 3.12484275e-01 -5.93016548e-01 7.42081499e-01 1.54829687e+02] [ 2.23427364e-01 8.05168938e-01 5.49347972e-01 -7.04170999e+01] [-9.23273411e-01 -5.86128969e-03 3.84098756e-01 -3.52356213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-70.41, Z:-35.26 [[ 3.14406378e-01 -5.93275712e-01 7.41061778e-01 1.54840675e+02] [ 2.21717530e-01 8.04952001e-01 5.50357713e-01 -7.04111081e+01] [-9.23033025e-01 -8.72958806e-03 3.84621669e-01 -3.52619623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:-70.41, Z:-35.29 [[ 3.24439441e-01 -6.06822081e-01 7.25607340e-01 1.54875752e+02] [ 2.24313438e-01 7.94578754e-01 5.64205712e-01 -7.04066746e+01] [-9.18924660e-01 -2.02871089e-02 3.93911034e-01 -3.52867772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-70.40, Z:-35.31 [[ 3.25725122e-01 -5.84638514e-01 7.43034961e-01 1.54865125e+02] [ 2.19989617e-01 8.11189320e-01 5.41826960e-01 -7.03964400e+01] [-9.19514934e-01 -1.30266758e-02 3.92839143e-01 -3.53075542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:-70.40, Z:-35.33 [[ 3.19019331e-01 -6.19480417e-01 7.17266115e-01 1.54891646e+02] [ 2.19698863e-01 7.84533624e-01 5.79861538e-01 -7.04040431e+01] [-9.21932251e-01 -2.74044902e-02 3.86380535e-01 -3.53298170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-70.40, Z:-35.36 [[ 3.18897340e-01 -6.17891267e-01 7.18689689e-01 1.54902912e+02] [ 2.22495183e-01 7.85894699e-01 5.76944899e-01 -7.03964600e+01] [-9.21303631e-01 -2.40811992e-02 3.88097559e-01 -3.53626959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-70.38, Z:-35.40 [[ 3.19137095e-01 -6.04526308e-01 7.29862629e-01 1.54903134e+02] [ 2.24623526e-01 7.96439458e-01 5.61452100e-01 -7.03848534e+01] [-9.20703962e-01 -1.52358747e-02 3.89964206e-01 -3.53963311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-70.37, Z:-35.43 [[ 3.23705306e-01 -5.89034919e-01 7.40440908e-01 1.54903348e+02] [ 2.28137142e-01 8.08078261e-01 5.43104933e-01 -7.03724969e+01] [-9.18241972e-01 -6.88387620e-03 3.95959964e-01 -3.54288145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:-70.37, Z:-35.46 [[ 3.25263481e-01 -5.88738527e-01 7.39993659e-01 1.54916618e+02] [ 2.33808370e-01 8.08318924e-01 5.40327830e-01 -7.03658263e+01] [-9.16262689e-01 -2.73219958e-03 4.00568622e-01 -3.54609142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.93, Y:-70.36, Z:-35.49 [[ 3.23455474e-01 -5.94123566e-01 7.36473859e-01 1.54932625e+02] [ 2.32146500e-01 8.04351885e-01 5.46924170e-01 -7.03616393e+01] [-9.17324675e-01 -5.93578823e-03 3.98095727e-01 -3.54860044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:-70.36, Z:-35.51 [[ 3.21503551e-01 -5.98101844e-01 7.34104659e-01 1.54947970e+02] [ 2.32303862e-01 8.01392325e-01 5.51185320e-01 -7.03573496e+01] [-9.17970796e-01 -6.67269025e-03 3.96591847e-01 -3.55145248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.95, Y:-70.35, Z:-35.55 [[ 3.19553550e-01 -5.81063804e-01 7.48498754e-01 1.54945752e+02] [ 2.38997533e-01 8.13801220e-01 5.29724224e-01 -7.03455772e+01] [-9.16932772e-01 9.61409926e-03 3.98925884e-01 -3.55517689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.95, Y:-70.34, Z:-35.58 [[ 3.19702029e-01 -5.73815927e-01 7.54006561e-01 1.54949563e+02] [ 2.39309380e-01 8.18870558e-01 5.21710677e-01 -7.03363289e+01] [-9.16799669e-01 1.36488803e-02 3.99114112e-01 -3.55793474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:-70.33, Z:-35.60 [[ 3.21242422e-01 -5.79130983e-01 7.49273389e-01 1.54966239e+02] [ 2.39753239e-01 8.15169964e-01 5.27272524e-01 -7.03325990e+01] [-9.16145016e-01 1.02584195e-02 4.00715703e-01 -3.56047668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:-70.33, Z:-35.63 [[ 3.17638539e-01 -5.88321492e-01 7.43628658e-01 1.54988569e+02] [ 2.41618554e-01 8.08574071e-01 5.36496455e-01 -7.03291323e+01] [-9.16911246e-01 9.26253092e-03 3.98983675e-01 -3.56336791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.99, Y:-70.32, Z:-35.67 [[ 3.17428326e-01 -5.71381203e-01 7.56810927e-01 1.54987762e+02] [ 2.43668273e-01 8.20435363e-01 5.17215224e-01 -7.03166687e+01] [-9.16441504e-01 2.02320487e-02 3.99656894e-01 -3.56664088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.00, Y:-70.31, Z:-35.70 [[ 3.14837601e-01 -5.71457597e-01 7.57834745e-01 1.54997397e+02] [ 2.44259907e-01 8.20328430e-01 5.17105758e-01 -7.03115819e+01] [-9.17177400e-01 2.23043084e-02 3.97854414e-01 -3.56964071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.01, Y:-70.31, Z:-35.73 [[ 3.13799005e-01 -5.71596911e-01 7.58160376e-01 1.55008631e+02] [ 2.45316759e-01 8.20189042e-01 5.16826492e-01 -7.03057397e+01] [-9.17251259e-01 2.38098069e-02 3.97596807e-01 -3.57263045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.02, Y:-70.30, Z:-35.76 [[ 3.13814235e-01 -5.71638989e-01 7.58122346e-01 1.55022559e+02] [ 2.47280430e-01 8.20107824e-01 5.16018939e-01 -7.03004431e+01] [-9.16718613e-01 2.55347309e-02 3.98716644e-01 -3.57553899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.03, Y:-70.29, Z:-35.79 [[ 3.13407582e-01 -5.71314176e-01 7.58535299e-01 1.55033722e+02] [ 2.47656255e-01 8.20310301e-01 5.15516624e-01 -7.02940265e+01] [-9.16756275e-01 2.62891929e-02 3.98580997e-01 -3.57857322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.04, Y:-70.29, Z:-35.81 [[ 3.12398867e-01 -5.70828950e-01 7.59316309e-01 1.55044484e+02] [ 2.47103128e-01 8.20636013e-01 5.15263602e-01 -7.02881096e+01] [-9.17249689e-01 2.66616696e-02 3.97419380e-01 -3.58148567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:-70.28, Z:-35.85 [[ 3.13364923e-01 -5.70153675e-01 7.59425580e-01 1.55056606e+02] [ 2.46855713e-01 8.21119937e-01 5.14610830e-01 -7.02827358e+01] [-9.16986740e-01 2.62075602e-02 3.98055878e-01 -3.58455798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:-70.28, Z:-35.88 [[ 3.14248562e-01 -5.69324266e-01 7.59682645e-01 1.55068746e+02] [ 2.46125537e-01 8.21718968e-01 5.14004045e-01 -7.02763238e+01] [-9.16880615e-01 2.54522665e-02 3.98349245e-01 -3.58756112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:-70.27, Z:-35.91 [[ 3.14762225e-01 -5.68427826e-01 7.60141137e-01 1.55079409e+02] [ 2.44946814e-01 8.22366651e-01 5.13531060e-01 -7.02704119e+01] [-9.17020065e-01 2.45539703e-02 3.98084542e-01 -3.59062332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-70.26, Z:-35.93 [[ 3.19029753e-01 -5.67037912e-01 7.59399778e-01 1.55095100e+02] [ 2.44160114e-01 8.23398064e-01 5.12251372e-01 -7.02637276e+01] [-9.15754255e-01 2.19917079e-02 4.01136522e-01 -3.59346438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.11, Y:-70.26, Z:-35.96 [[ 3.19931940e-01 -5.66025774e-01 7.59775215e-01 1.55106312e+02] [ 2.42798532e-01 8.24126251e-01 5.11727266e-01 -7.02576893e+01] [-9.15801521e-01 2.07544099e-02 4.01094538e-01 -3.59648241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.11, Y:-70.25, Z:-36.00 [[ 3.16407968e-01 -5.65510439e-01 7.61632419e-01 1.55111963e+02] [ 2.40635645e-01 8.24468298e-01 5.12197727e-01 -7.02523775e+01] [-9.17594946e-01 2.12124666e-02 3.96950308e-01 -3.59968591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:-70.25, Z:-36.03 [[ 3.18266050e-01 -5.64129359e-01 7.61882398e-01 1.55124272e+02] [ 2.38491282e-01 8.25470498e-01 5.11586127e-01 -7.02461948e+01] [-9.17512196e-01 1.88818144e-02 3.97259169e-01 -3.60272205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-70.24, Z:-36.06 [[ 3.22716191e-01 -5.62869763e-01 7.60941450e-01 1.55140231e+02] [ 2.38373010e-01 8.26375957e-01 5.10177504e-01 -7.02384873e+01] [-9.15987210e-01 1.67453630e-02 4.00857861e-01 -3.60553154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.15, Y:-70.23, Z:-36.09 [[ 3.21004357e-01 -5.62222494e-01 7.62143077e-01 1.55147516e+02] [ 2.36780403e-01 8.26817721e-01 5.10203389e-01 -7.02328448e+01] [-9.17001223e-01 1.66830343e-02 3.98535359e-01 -3.60866817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:-70.23, Z:-36.12 [[ 3.21478705e-01 -5.60893602e-01 7.62921890e-01 1.55157372e+02] [ 2.34034575e-01 8.27758903e-01 5.09944131e-01 -7.02263564e+01] [-9.17539787e-01 1.46139210e-02 3.97375356e-01 -3.61170030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.17, Y:-70.22, Z:-36.15 [[ 3.22129238e-01 -5.60086552e-01 7.63240335e-01 1.55168459e+02] [ 2.33295701e-01 8.28316210e-01 5.09377435e-01 -7.02183053e+01] [-9.17499793e-01 1.39753238e-02 3.97490654e-01 -3.61471197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:-70.22, Z:-36.16 [[ 3.32987017e-01 -6.00994249e-01 7.26584860e-01 1.55230855e+02] [ 2.34204951e-01 7.99127317e-01 5.53663772e-01 -7.02203551e+01] [-9.13382553e-01 -1.41930760e-02 4.06854850e-01 -3.61642101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.19, Y:-70.19, Z:-36.21 [[ 3.34896589e-01 -5.33607210e-01 7.76600039e-01 1.55186955e+02] [ 2.34289223e-01 8.45465804e-01 4.79891795e-01 -7.01937031e+01] [-9.12662498e-01 2.12348943e-02 4.08162032e-01 -3.62067253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:-70.18, Z:-36.24 [[ 3.23096656e-01 -5.08554102e-01 7.98111067e-01 1.55160697e+02] [ 2.32802637e-01 8.60138597e-01 4.53833148e-01 -7.01794812e+01] [-9.17284843e-01 3.91703882e-02 3.96300641e-01 -3.62440273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-70.19, Z:-36.26 [[ 3.22448060e-01 -5.58778989e-01 7.64063669e-01 1.55211223e+02] [ 2.31110683e-01 8.29222554e-01 5.08898623e-01 -7.01915161e+01] [-9.17940685e-01 1.24899026e-02 3.96520998e-01 -3.62637241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.22, Y:-70.18, Z:-36.29 [[ 3.22316031e-01 -5.58858016e-01 7.64061578e-01 1.55221350e+02] [ 2.32998630e-01 8.29141189e-01 5.08169782e-01 -7.01843967e+01] [-9.17509681e-01 1.42340333e-02 3.97458649e-01 -3.62938963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:-70.18, Z:-36.32 [[ 3.28584118e-01 -5.89961384e-01 7.37548672e-01 1.55266768e+02] [ 2.36896513e-01 8.07426548e-01 5.40316954e-01 -7.01834450e+01] [-9.14282516e-01 -2.81686135e-03 4.05067335e-01 -3.63150398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-70.15, Z:-36.36 [[ 3.22546750e-01 -5.14186902e-01 7.94717198e-01 1.55207387e+02] [ 2.36512271e-01 8.56738844e-01 4.58323575e-01 -7.01537034e+01] [-9.16529072e-01 4.01295897e-02 3.97949841e-01 -3.63613512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-70.16, Z:-36.38 [[ 3.20770131e-01 -5.59574276e-01 7.64187904e-01 1.55251331e+02] [ 2.37387672e-01 8.28567966e-01 5.07072204e-01 -7.01629166e+01] [-9.16926178e-01 1.87551705e-02 3.98615890e-01 -3.63822540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:-70.15, Z:-36.41 [[ 3.20327691e-01 -5.60883910e-01 7.63413001e-01 1.55260546e+02] [ 2.42374799e-01 8.27579304e-01 5.06326923e-01 -7.01533919e+01] [-9.15775424e-01 2.28415391e-02 4.01040693e-01 -3.64125429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88361786499996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:155.27, Y:-70.15, Z:-36.44 [[ 3.17867536e-01 -5.60975545e-01 7.64373382e-01 1.55268427e+02] [ 2.43091917e-01 8.27457388e-01 5.06182370e-01 -7.01459785e+01] [-9.16442333e-01 2.49140484e-02 3.99390462e-01 -3.64435812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-70.14, Z:-36.47 [[ 3.17140927e-01 -5.61332692e-01 7.64413004e-01 1.55278315e+02] [ 2.45800105e-01 8.27129661e-01 5.05409568e-01 -7.01375475e+01] [-9.15971583e-01 2.76067375e-02 4.00292303e-01 -3.64724769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:-70.13, Z:-36.50 [[ 3.16713260e-01 -5.61529246e-01 7.64445955e-01 1.55288011e+02] [ 2.47966722e-01 8.26923147e-01 5.04688631e-01 -7.01298056e+01] [-9.15535480e-01 2.97155764e-02 4.01138092e-01 -3.65016685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:-70.12, Z:-36.53 [[ 3.14757531e-01 -5.61685529e-01 7.65138591e-01 1.55295711e+02] [ 2.48588381e-01 8.26756254e-01 5.04656233e-01 -7.01230570e+01] [-9.16041218e-01 3.13602140e-02 3.99856254e-01 -3.65279295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:-70.11, Z:-36.56 [[ 3.14571293e-01 -5.61311955e-01 7.65489249e-01 1.55305011e+02] [ 2.49689829e-01 8.26959596e-01 5.03778539e-01 -7.01148048e+01] [-9.15805597e-01 3.26606140e-02 4.00291635e-01 -3.65559916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-70.11, Z:-36.58 [[ 3.15642565e-01 -5.70758390e-01 7.58026801e-01 1.55325606e+02] [ 2.50079541e-01 8.20660959e-01 5.13785766e-01 -7.01093729e+01] [-9.15330539e-01 2.73943376e-02 4.01770526e-01 -3.65846833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-70.10, Z:-36.62 [[ 3.14999655e-01 -5.61092613e-01 7.65473904e-01 1.55326208e+02] [ 2.49805578e-01 8.27109826e-01 5.03474437e-01 -7.00991263e+01] [-9.15626775e-01 3.26253768e-02 4.00703374e-01 -3.66152514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:-70.09, Z:-36.64 [[ 3.17939566e-01 -5.59562960e-01 7.65378159e-01 1.55335260e+02] [ 2.51931598e-01 8.28106138e-01 5.00770102e-01 -7.00904359e+01] [-9.14026752e-01 3.36083139e-02 4.04259296e-01 -3.66446139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:-70.09, Z:-36.67 [[ 3.14485513e-01 -5.65008657e-01 7.62800157e-01 1.55342408e+02] [ 2.50091732e-01 8.24497245e-01 5.07600648e-01 -7.00854440e+01] [-9.15725389e-01 3.11369619e-02 4.00596433e-01 -3.66700919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.36, Y:-70.08, Z:-36.70 [[ 3.14344331e-01 -5.72187448e-01 7.57488723e-01 1.55358767e+02] [ 2.46105469e-01 8.19775360e-01 5.17107781e-01 -7.00800991e+01] [-9.16853172e-01 2.38722183e-02 3.98510198e-01 -3.66973103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.38, Y:-70.07, Z:-36.72 [[ 3.16166967e-01 -5.81438853e-01 7.49644789e-01 1.55378532e+02] [ 2.44869398e-01 8.13417732e-01 5.27627303e-01 -7.00745670e+01] [-9.16557378e-01 1.67467444e-02 3.99552399e-01 -3.67238313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:-70.06, Z:-36.76 [[ 3.15494165e-01 -5.68620449e-01 7.59693502e-01 1.55375566e+02] [ 2.40885748e-01 8.22347794e-01 5.15478575e-01 -7.00632719e+01] [-9.17843935e-01 2.03688550e-02 3.96418493e-01 -3.67554400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.39, Y:-70.06, Z:-36.78 [[ 3.18789358e-01 -5.75003159e-01 7.53488363e-01 1.55394133e+02] [ 2.38937803e-01 8.18043826e-01 5.23175903e-01 -7.00574094e+01] [-9.17214299e-01 1.32539438e-02 3.98173658e-01 -3.67837631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.39, Y:-70.05, Z:-36.82 [[ 3.19927054e-01 -5.62369745e-01 7.62487344e-01 1.55392786e+02] [ 2.35050451e-01 8.26736872e-01 5.11133475e-01 -7.00465500e+01] [-9.17822404e-01 1.56975674e-02 3.96680754e-01 -3.68152786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.42, Y:-70.04, Z:-36.84 [[ 3.23572242e-01 -5.80759685e-01 7.47006822e-01 1.55422095e+02] [ 2.33219890e-01 8.14072301e-01 5.31878531e-01 -7.00449379e+01] [-9.17011171e-01 2.11572014e-03 3.98855909e-01 -3.68412486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.44, Y:-70.03, Z:-36.87 [[ 3.30798873e-01 -5.70879578e-01 7.51444351e-01 1.55436845e+02] [ 2.31168020e-01 8.21033147e-01 5.21982680e-01 -7.00327713e+01] [-9.14949972e-01 1.03862041e-03 4.03565942e-01 -3.68704674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-70.02, Z:-36.91 [[ 3.33089621e-01 -5.47492453e-01 7.67660940e-01 1.55430506e+02] [ 2.28421121e-01 8.36755722e-01 4.97658169e-01 -7.00167276e+01] [-9.14808775e-01 9.58520157e-03 4.03773486e-01 -3.69050198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:-70.01, Z:-36.93 [[ 3.34099448e-01 -5.46423027e-01 7.67984007e-01 1.55440975e+02] [ 2.26988651e-01 8.37468810e-01 4.97113815e-01 -7.00092305e+01] [-9.14797088e-01 8.23820227e-03 4.03829693e-01 -3.69346534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-70.00, Z:-36.96 [[ 3.34969327e-01 -5.45577356e-01 7.68206286e-01 1.55451416e+02] [ 2.26143863e-01 8.38027850e-01 4.96556417e-01 -7.00018009e+01] [-9.14688200e-01 7.39396837e-03 4.04092596e-01 -3.69641373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-70.00, Z:-36.99 [[ 3.35385351e-01 -5.45148536e-01 7.68329187e-01 1.55460312e+02] [ 2.26466475e-01 8.38304395e-01 4.95942211e-01 -6.99954982e+01] [-9.14455905e-01 7.66905042e-03 4.04612882e-01 -3.69892055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499996 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:155.47, Y:-69.99, Z:-37.02 [[ 3.36589613e-01 -5.37795040e-01 7.72970845e-01 1.55465095e+02] [ 2.29334179e-01 8.42967950e-01 4.86632171e-01 -6.99853699e+01] [-9.13298016e-01 1.34732997e-02 4.07069040e-01 -3.70182165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.48, Y:-69.98, Z:-37.04 [[ 3.34813957e-01 -5.44778812e-01 7.68840464e-01 1.55479105e+02] [ 2.28529587e-01 8.38519034e-01 4.94631234e-01 -6.99824551e+01] [-9.14151980e-01 1.00933525e-02 4.05245953e-01 -3.70422499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:-69.98, Z:-37.07 [[ 3.34483484e-01 -5.47446727e-01 7.67087270e-01 1.55492102e+02] [ 2.29020834e-01 8.36788510e-01 4.97327304e-01 -6.99763757e+01] [-9.14150019e-01 9.33119670e-03 4.05268642e-01 -3.70720395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.50, Y:-69.97, Z:-37.10 [[ 3.33951147e-01 -5.47126213e-01 7.67547744e-01 1.55501147e+02] [ 2.29268355e-01 8.36989875e-01 4.96874199e-01 -6.99705971e+01] [-9.14282589e-01 1.00427001e-02 4.04952456e-01 -3.70978252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-69.96, Z:-37.12 [[ 3.32421453e-01 -5.48820573e-01 7.67001927e-01 1.55511270e+02] [ 2.32591373e-01 8.35837603e-01 4.97269299e-01 -6.99638962e+01] [-9.14000673e-01 1.30950482e-02 4.05501281e-01 -3.71234584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:-69.96, Z:-37.15 [[ 3.30595482e-01 -5.50214173e-01 7.66792665e-01 1.55523505e+02] [ 2.34568954e-01 8.34884329e-01 4.97941324e-01 -6.99578066e+01] [-9.14157554e-01 1.52486017e-02 4.05072151e-01 -3.71533630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:-69.95, Z:-37.18 [[ 3.30369957e-01 -5.50166454e-01 7.66924093e-01 1.55534885e+02] [ 2.35947355e-01 8.34888675e-01 4.97282361e-01 -6.99507086e+01] [-9.13884313e-01 1.66665589e-02 4.05632455e-01 -3.71839374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.55, Y:-69.94, Z:-37.21 [[ 3.29692316e-01 -5.50143111e-01 7.67232386e-01 1.55545835e+02] [ 2.37135840e-01 8.34872781e-01 4.96743427e-01 -6.99439085e+01] [-9.13821410e-01 1.81658054e-02 4.05709790e-01 -3.72144337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:155.56, Y:-69.94, Z:-37.24 [[ 3.28476991e-01 -5.50713877e-01 7.67344181e-01 1.55556728e+02] [ 2.40118954e-01 8.34422092e-01 4.96067194e-01 -6.99374074e+01] [-9.13480024e-01 2.13072224e-02 4.06325298e-01 -3.72445548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75361786499997 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:155.56, Y:-69.93, Z:-37.27 [[ 3.28827487e-01 -5.47369189e-01 7.69583949e-01 1.55563771e+02] [ 2.42898511e-01 8.36505205e-01 4.91181591e-01 -6.99298296e+01] [-9.12618648e-01 2.54167874e-02 4.08021065e-01 -3.72721245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78361786499997 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:155.58, Y:-69.93, Z:-37.30 [[ 3.27010687e-01 -5.51780030e-01 7.67204542e-01 1.55575460e+02] [ 2.43235695e-01 8.33631096e-01 4.95878606e-01 -6.99264092e+01] [-9.13181475e-01 2.44539264e-02 4.06818877e-01 -3.72964185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.58, Y:-69.92, Z:-37.33 [[ 3.24462323e-01 -5.49720186e-01 7.69760948e-01 1.55578026e+02] [ 2.45381560e-01 8.34845318e-01 4.92768896e-01 -6.99207745e+01] [-9.13516333e-01 2.90002015e-02 4.05767048e-01 -3.73259893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84361786499997 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:155.60, Y:-69.92, Z:-37.35 [[ 3.25418377e-01 -5.57225373e-01 7.63938979e-01 1.55597887e+02] [ 2.47923316e-01 8.29929659e-01 4.99750728e-01 -6.99160056e+01] [-9.12489402e-01 2.67702143e-02 4.08223525e-01 -3.73464769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-69.91, Z:-37.37 [[ 3.24080134e-01 -5.56378749e-01 7.65124012e-01 1.55606703e+02] [ 2.48169688e-01 8.30448764e-01 4.98765132e-01 -6.99092817e+01] [-9.12898610e-01 2.82407167e-02 4.07208288e-01 -3.73734981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:-69.90, Z:-37.40 [[ 3.24007785e-01 -5.55591585e-01 7.65726417e-01 1.55617783e+02] [ 2.48981541e-01 8.30933931e-01 4.97550997e-01 -6.99017825e+01] [-9.12703209e-01 2.94413467e-02 4.07561111e-01 -3.74040521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:-69.89, Z:-37.43 [[ 3.24079747e-01 -5.55376645e-01 7.65851878e-01 1.55628887e+02] [ 2.48886101e-01 8.31078141e-01 4.97357852e-01 -6.98945254e+01] [-9.12703690e-01 2.94262810e-02 4.07561122e-01 -3.74347755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:-69.89, Z:-37.47 [[ 3.21794192e-01 -5.43208409e-01 7.75482509e-01 1.55624124e+02] [ 2.50918561e-01 8.38689768e-01 4.83362544e-01 -6.98864734e+01] [-9.12955844e-01 3.90396961e-02 4.06186569e-01 -3.74717970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.65, Y:-69.89, Z:-37.50 [[ 3.19702192e-01 -5.61712395e-01 7.63065982e-01 1.55649849e+02] [ 2.49802509e-01 8.26806670e-01 5.03973647e-01 -6.98858162e+01] [-9.13996288e-01 2.94943170e-02 4.04649071e-01 -3.74963602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:-69.88, Z:-37.52 [[ 3.22418995e-01 -5.57956689e-01 7.64676614e-01 1.55665170e+02] [ 2.49555866e-01 8.29340334e-01 4.99916472e-01 -6.98754737e+01] [-9.13108899e-01 2.96469680e-02 4.06636442e-01 -3.75232767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:-69.87, Z:-37.56 [[ 3.19080173e-01 -5.49333441e-01 7.72282729e-01 1.55663055e+02] [ 2.48698742e-01 8.34854345e-01 4.91087730e-01 -6.98683305e+01] [-9.14514505e-01 3.53693854e-02 4.03004005e-01 -3.75585125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.69, Y:-69.86, Z:-37.58 [[ 3.22600644e-01 -5.59579475e-01 7.63413148e-01 1.55689443e+02] [ 2.47423769e-01 8.28345163e-01 5.02618910e-01 -6.98631451e+01] [-9.13624815e-01 2.67413737e-02 4.05677946e-01 -3.75810899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.69, Y:-69.86, Z:-37.61 [[ 3.23154377e-01 -5.53081554e-01 7.67901063e-01 1.55694221e+02] [ 2.46914506e-01 8.32608462e-01 4.95778555e-01 -6.98551903e+01] [-9.13566897e-01 2.93929016e-02 4.05624928e-01 -3.76081939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499995 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:155.72, Y:-69.87, Z:-37.62 [[ 3.20293075e-01 -5.81687842e-01 7.47697533e-01 1.55722267e+02] [ 2.36227160e-01 8.13387250e-01 5.31599388e-01 -6.98677555e+01] [-9.17392541e-01 6.35886255e-03 3.97932770e-01 -3.76183668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17361786499995 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:155.69, Y:-69.85, Z:-37.67 [[ 3.19494470e-01 -5.34147173e-01 7.82694117e-01 1.55690446e+02] [ 2.38400371e-01 8.44727365e-01 4.79166926e-01 -6.98456211e+01] [-9.17108798e-01 3.35033848e-02 3.97226606e-01 -3.76669348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-69.85, Z:-37.68 [[ 3.26023394e-01 -5.68829604e-01 7.55077233e-01 1.55736658e+02] [ 2.38941602e-01 8.22366732e-01 5.16352465e-01 -6.98457548e+01] [-9.14666965e-01 1.20763808e-02 4.04027850e-01 -3.76772896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-69.83, Z:-37.71 [[ 3.27202690e-01 -5.45380305e-01 7.71685637e-01 1.55728610e+02] [ 2.38293105e-01 8.37867769e-01 4.91115055e-01 -6.98319843e+01] [-9.14415002e-01 2.31931996e-02 4.04112954e-01 -3.77076916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-69.82, Z:-37.74 [[ 3.29934330e-01 -5.36982152e-01 7.76397776e-01 1.55732781e+02] [ 2.39847611e-01 8.43147047e-01 4.81223628e-01 -6.98230820e+01] [-9.13025992e-01 2.74449559e-02 4.06977042e-01 -3.77374030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.75, Y:-69.82, Z:-37.76 [[ 3.29025096e-01 -5.45508992e-01 7.70819321e-01 1.55748416e+02] [ 2.36526803e-01 8.37855617e-01 4.91988859e-01 -6.98213834e+01] [-9.14219644e-01 2.04427482e-02 4.04703023e-01 -3.77590033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32361786499996 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:155.75, Y:-69.81, Z:-37.79 [[ 3.35210950e-01 -5.26609670e-01 7.81227159e-01 1.55745238e+02] [ 2.38541358e-01 8.49623104e-01 4.70360077e-01 -6.98089178e+01] [-9.11444809e-01 2.86851394e-02 4.10421154e-01 -3.77878700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.78, Y:-69.82, Z:-37.81 [[ 3.29854059e-01 -5.64843651e-01 7.56404621e-01 1.55782212e+02] [ 2.35197357e-01 8.25154315e-01 5.13617133e-01 -6.98171447e+01] [-9.14263913e-01 8.48567147e-03 4.05030234e-01 -3.78076574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:-69.81, Z:-37.84 [[ 3.27506845e-01 -5.46400372e-01 7.70834548e-01 1.55774412e+02] [ 2.35459416e-01 8.37287966e-01 4.93465020e-01 -6.98062508e+01] [-9.15039961e-01 1.98870809e-02 4.02872653e-01 -3.78438618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41361786499996 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:155.75, Y:-69.79, Z:-37.88 [[ 3.22784152e-01 -5.10240386e-01 7.97160673e-01 1.55751552e+02] [ 2.31757484e-01 8.59212966e-01 4.56115718e-01 -6.97935140e+01] [-9.17659446e-01 3.75210269e-02 3.95592357e-01 -3.78828579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-69.80, Z:-37.89 [[ 3.25939184e-01 -5.65904595e-01 7.57308153e-01 1.55811607e+02] [ 2.35858906e-01 8.24398500e-01 5.14526666e-01 -6.98006578e+01] [-9.15496709e-01 1.09134706e-02 4.02177413e-01 -3.78891108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.79, Y:-69.79, Z:-37.93 [[ 3.20168959e-01 -5.32490285e-01 7.83547021e-01 1.55787246e+02] [ 2.36673476e-01 8.45816852e-01 4.78099905e-01 -6.97875952e+01] [-9.17320829e-01 3.23720481e-02 3.96830628e-01 -3.79269652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50361786499997 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:155.79, Y:-69.78, Z:-37.96 [[ 3.16780361e-01 -5.21563672e-01 7.92225687e-01 1.55785334e+02] [ 2.34963550e-01 8.52359279e-01 4.67199945e-01 -6.97815633e+01] [-9.18935435e-01 3.81443930e-02 3.92559132e-01 -3.79600342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.84, Y:-69.79, Z:-37.97 [[ 3.20033746e-01 -5.70003335e-01 7.56752667e-01 1.55839514e+02] [ 2.38126957e-01 8.21516179e-01 5.18079839e-01 -6.97863572e+01] [-9.16991796e-01 1.44001781e-02 3.98646060e-01 -3.79682206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:-69.77, Z:-38.00 [[ 3.19401998e-01 -5.49659766e-01 7.71917421e-01 1.55833785e+02] [ 2.39616668e-01 8.34960818e-01 4.95403154e-01 -6.97718201e+01] [-9.16823983e-01 2.67315232e-02 3.98395796e-01 -3.80027750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-69.76, Z:-38.03 [[ 3.18963199e-01 -5.49321907e-01 7.72339252e-01 1.55843923e+02] [ 2.39920352e-01 8.35160201e-01 4.94919856e-01 -6.97645689e+01] [-9.16897324e-01 2.74386843e-02 3.98178875e-01 -3.80328139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.85, Y:-69.76, Z:-38.06 [[ 3.18365971e-01 -5.49120232e-01 7.72728982e-01 1.55853164e+02] [ 2.40617041e-01 8.35256405e-01 4.94419030e-01 -6.97574423e+01] [-9.16922324e-01 2.85255668e-02 3.98044902e-01 -3.80624251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.86, Y:-69.75, Z:-38.09 [[ 3.20309228e-01 -5.42593560e-01 7.76527029e-01 1.55858195e+02] [ 2.43018501e-01 8.39348438e-01 4.86247065e-01 -6.97484595e+01] [-9.15611275e-01 3.29610128e-02 4.00711323e-01 -3.80940153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-69.75, Z:-38.12 [[ 3.18036371e-01 -5.56976416e-01 7.67222353e-01 1.55879847e+02] [ 2.40948648e-01 8.30153211e-01 5.02781658e-01 -6.97458646e+01] [-9.16949626e-01 2.49583348e-02 3.98221629e-01 -3.81207519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-69.74, Z:-38.15 [[ 3.18652810e-01 -5.48089580e-01 7.73342226e-01 1.55882561e+02] [ 2.40940135e-01 8.35910346e-01 4.93154889e-01 -6.97350970e+01] [-9.16737824e-01 2.91839896e-02 3.98421959e-01 -3.81531072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.89, Y:-69.73, Z:-38.18 [[ 3.18714992e-01 -5.47358451e-01 7.73834272e-01 1.55892192e+02] [ 2.40125807e-01 8.36403222e-01 4.92716194e-01 -6.97272823e+01] [-9.16929850e-01 2.87815411e-02 3.98009136e-01 -3.81838664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.90, Y:-69.72, Z:-38.21 [[ 3.19450125e-01 -5.46622189e-01 7.74051549e-01 1.55902208e+02] [ 2.39645522e-01 8.36901166e-01 4.92104118e-01 -6.97192882e+01] [-9.16799674e-01 2.82952658e-02 3.98343741e-01 -3.82147353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.91, Y:-69.71, Z:-38.24 [[ 3.20917205e-01 -5.45903392e-01 7.73951958e-01 1.55911742e+02] [ 2.39603043e-01 8.37387603e-01 4.91296636e-01 -6.97124679e+01] [-9.16298275e-01 2.77757007e-02 3.99532203e-01 -3.82447942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.92, Y:-69.70, Z:-38.28 [[ 3.19737684e-01 -5.44501399e-01 7.75426360e-01 1.55920792e+02] [ 2.35748057e-01 8.38367422e-01 4.91490509e-01 -6.97032115e+01] [-9.17709468e-01 2.56572208e-02 3.96422805e-01 -3.82751748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:-69.69, Z:-38.31 [[ 3.19874293e-01 -5.43801628e-01 7.75860958e-01 1.55931086e+02] [ 2.33994590e-01 8.38860939e-01 4.91486376e-01 -6.96949496e+01] [-9.18110543e-01 2.43334102e-02 3.95576689e-01 -3.83052626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.94, Y:-69.69, Z:-38.34 [[ 3.20219837e-01 -5.42639635e-01 7.76531701e-01 1.55941085e+02] [ 2.31799395e-01 8.39658312e-01 4.91164900e-01 -6.96869570e+01] [-9.18546840e-01 2.27188348e-02 3.94658787e-01 -3.83357120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.95, Y:-69.68, Z:-38.36 [[ 3.21145560e-01 -5.40908968e-01 7.77356429e-01 1.55950233e+02] [ 2.27942452e-01 8.40854264e-01 4.90923972e-01 -6.96788179e+01] [-9.19188647e-01 1.95344765e-02 3.93332729e-01 -3.83647839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:155.96, Y:-69.67, Z:-38.39 [[ 3.22055042e-01 -5.39913457e-01 7.77672173e-01 1.55960594e+02] [ 2.26570243e-01 8.41522512e-01 4.90413894e-01 -6.96709682e+01] [-9.19209701e-01 1.82571061e-02 3.93344891e-01 -3.83946243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.97, Y:-69.66, Z:-38.43 [[ 3.23047103e-01 -5.38439028e-01 7.78282714e-01 1.55970355e+02] [ 2.23641300e-01 8.42517329e-01 4.90050120e-01 -6.96630928e+01] [-9.19578783e-01 1.57468865e-02 3.92589986e-01 -3.84250549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:155.98, Y:-69.66, Z:-38.46 [[ 3.23441852e-01 -5.37459625e-01 7.78795557e-01 1.55980289e+02] [ 2.22126170e-01 8.43162666e-01 4.89629129e-01 -6.96555396e+01] [-9.19807226e-01 1.46243223e-02 3.92097942e-01 -3.84551779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04361786499996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:155.99, Y:-69.65, Z:-38.49 [[ 3.23189493e-01 -5.37612874e-01 7.78794549e-01 1.55987329e+02] [ 2.24282594e-01 8.43027002e-01 4.88879118e-01 -6.96450202e+01] [-9.19372541e-01 1.66694668e-02 3.93034679e-01 -3.84863245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:156.00, Y:-69.64, Z:-38.52 [[ 3.25106867e-01 -5.35516107e-01 7.79440841e-01 1.55998781e+02] [ 2.19746212e-01 8.44433086e-01 4.88512401e-01 -6.96394264e+01] [-9.19791893e-01 1.24604362e-02 3.92208631e-01 -3.85155050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:-69.63, Z:-38.55 [[ 3.25681033e-01 -5.34830277e-01 7.79672008e-01 1.56008630e+02] [ 2.19423452e-01 8.44871734e-01 4.87898660e-01 -6.96317121e+01] [-9.19665816e-01 1.21789836e-02 3.92513004e-01 -3.85463544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:-69.62, Z:-38.58 [[ 3.26608209e-01 -5.34048761e-01 7.79819850e-01 1.56018387e+02] [ 2.18981363e-01 8.45373634e-01 4.87227443e-01 -6.96246150e+01] [-9.19442353e-01 1.16335307e-02 3.93052694e-01 -3.85755675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.03, Y:-69.62, Z:-38.61 [[ 3.27074983e-01 -5.33596223e-01 7.79933988e-01 1.56028334e+02] [ 2.19311926e-01 8.45655671e-01 4.86588908e-01 -6.96169281e+01] [-9.19197604e-01 1.18977661e-02 3.93616830e-01 -3.86055413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:-69.61, Z:-38.63 [[ 3.27055059e-01 -5.33015253e-01 7.80339496e-01 1.56038238e+02] [ 2.18996945e-01 8.46021769e-01 4.86094131e-01 -6.96098406e+01] [-9.19279787e-01 1.19124209e-02 3.93424411e-01 -3.86348114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:-69.60, Z:-38.67 [[ 3.26868332e-01 -5.32871483e-01 7.80515904e-01 1.56048322e+02] [ 2.20005830e-01 8.46096004e-01 4.85508997e-01 -6.96020816e+01] [-9.19105287e-01 1.30205335e-02 3.93796822e-01 -3.86650095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-69.60, Z:-38.70 [[ 3.26429751e-01 -5.32741891e-01 7.80787869e-01 1.56058654e+02] [ 2.19936892e-01 8.46173678e-01 4.85404852e-01 -6.95950350e+01] [-9.19277641e-01 1.32734722e-02 3.93385859e-01 -3.86950917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:-69.58, Z:-38.73 [[ 3.22921929e-01 -5.22455009e-01 7.89152831e-01 1.56049870e+02] [ 2.23346519e-01 8.52341678e-01 4.72895333e-01 -6.95849677e+01] [-9.19694384e-01 2.35462647e-02 3.91928327e-01 -3.87252781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-69.60, Z:-38.74 [[ 3.24042072e-01 -5.73359285e-01 7.52499745e-01 1.56107254e+02] [ 2.21137040e-01 8.19288674e-01 5.29022191e-01 -6.95971306e+01] [-9.19834303e-01 -5.01988114e-03 3.92274974e-01 -3.87437883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-69.57, Z:-38.78 [[ 3.18551576e-01 -5.26040891e-01 7.88546685e-01 1.56071638e+02] [ 2.23015203e-01 8.50123378e-01 4.77026689e-01 -6.95730836e+01] [-9.21297516e-01 2.39002953e-02 3.88123258e-01 -3.87833365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.12, Y:-69.58, Z:-38.80 [[ 3.23886162e-01 -5.59317604e-01 7.63060661e-01 1.56116506e+02] [ 2.22843107e-01 8.28944358e-01 5.13022612e-01 -6.95793357e+01] [-9.19477408e-01 3.88188400e-03 3.93123679e-01 -3.88021117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:156.11, Y:-69.56, Z:-38.84 [[ 3.23929651e-01 -5.33785556e-01 7.81116228e-01 1.56107864e+02] [ 2.23615669e-01 8.45437499e-01 4.85006668e-01 -6.95628951e+01] [-9.19274504e-01 1.75617875e-02 3.93225088e-01 -3.88359350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:-69.56, Z:-38.87 [[ 3.23786329e-01 -5.33703054e-01 7.81232016e-01 1.56117894e+02] [ 2.24840824e-01 8.45462688e-01 4.84395962e-01 -6.95554174e+01] [-9.19026124e-01 1.88120595e-02 3.93747495e-01 -3.88665595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-69.55, Z:-38.90 [[ 3.20770709e-01 -5.21309490e-01 7.90786044e-01 1.56113538e+02] [ 2.24217599e-01 8.52968084e-01 4.71351160e-01 -6.95460744e+01] [-9.20235090e-01 2.61125021e-02 3.90493940e-01 -3.88969115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:-69.55, Z:-38.92 [[ 3.18637990e-01 -5.52075984e-01 7.70507585e-01 1.56141543e+02] [ 2.27151673e-01 8.33665580e-01 5.03392310e-01 -6.95504241e+01] [-9.20256458e-01 1.46221733e-02 3.91042508e-01 -3.89153150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.14, Y:-69.54, Z:-38.95 [[ 3.17429428e-01 -5.42907462e-01 7.77489579e-01 1.56143555e+02] [ 2.27653104e-01 8.39544428e-01 4.93294251e-01 -6.95407259e+01] [-9.20550174e-01 2.04118042e-02 3.90090676e-01 -3.89471081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-69.54, Z:-38.98 [[ 3.15906315e-01 -5.50371453e-01 7.72848280e-01 1.56158283e+02] [ 2.27539646e-01 8.34737612e-01 5.01436765e-01 -6.95371378e+01] [-9.21102008e-01 1.74465830e-02 3.88930209e-01 -3.89756933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-69.53, Z:-39.00 [[ 3.19786629e-01 -5.60986139e-01 7.63564708e-01 1.56188766e+02] [ 2.27117198e-01 8.27772332e-01 5.13040686e-01 -6.95335684e+01] [-9.19866452e-01 9.35512532e-03 3.92120124e-01 -3.90041153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-69.51, Z:-39.04 [[ 3.15764999e-01 -5.23707229e-01 7.91216281e-01 1.56159640e+02] [ 2.29661504e-01 8.51269199e-01 4.71801171e-01 -6.95130094e+01] [-9.20623734e-01 3.27336246e-02 3.89076408e-01 -3.90396699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-69.52, Z:-39.06 [[ 3.17027739e-01 -5.64787546e-01 7.61911045e-01 1.56205193e+02] [ 2.29316676e-01 8.25162347e-01 5.16256684e-01 -6.95208344e+01] [-9.20275652e-01 1.10512188e-02 3.91114555e-01 -3.90615567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:-69.50, Z:-39.10 [[ 3.18593096e-01 -5.33489045e-01 7.83509973e-01 1.56195400e+02] [ 2.29138218e-01 8.45412721e-01 4.82465551e-01 -6.95031436e+01] [-9.19779385e-01 2.58218851e-02 3.91585385e-01 -3.90970914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-69.50, Z:-39.12 [[ 3.16555173e-01 -5.45555717e-01 7.75990839e-01 1.56210127e+02] [ 2.29891265e-01 8.37795455e-01 4.95225990e-01 -6.95011889e+01] [-9.20294968e-01 2.16271671e-02 3.90626979e-01 -3.91225242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:-69.49, Z:-39.15 [[ 3.18084209e-01 -5.44979465e-01 7.75770468e-01 1.56224909e+02] [ 2.29812559e-01 8.38187423e-01 4.94598859e-01 -6.94925689e+01] [-9.19787271e-01 2.09577096e-02 3.91857309e-01 -3.91529047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-69.48, Z:-39.19 [[ 3.18994576e-01 -5.30307230e-01 7.85504107e-01 1.56225402e+02] [ 2.29440958e-01 8.47360620e-01 4.78891248e-01 -6.94794855e+01] [-9.19564738e-01 2.74631039e-02 3.91977641e-01 -3.91858837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:-69.47, Z:-39.22 [[ 3.18935376e-01 -5.29483788e-01 7.86083421e-01 1.56235016e+02] [ 2.28379232e-01 8.47892556e-01 4.78457040e-01 -6.94720550e+01] [-9.19849527e-01 2.69282517e-02 3.91346032e-01 -3.92155410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-69.47, Z:-39.25 [[ 3.19014860e-01 -5.28952865e-01 7.86408536e-01 1.56246031e+02] [ 2.28283908e-01 8.48219677e-01 4.77922418e-01 -6.94650375e+01] [-9.19845626e-01 2.70600607e-02 3.91346109e-01 -3.92463537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:156.26, Y:-69.46, Z:-39.28 [[ 3.18841211e-01 -5.28340031e-01 7.86890777e-01 1.56255031e+02] [ 2.26860402e-01 8.48630091e-01 4.77871662e-01 -6.94568403e+01] [-9.20257921e-01 2.61491789e-02 3.90437678e-01 -3.92764891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88361786499996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:156.27, Y:-69.45, Z:-39.31 [[ 3.18496237e-01 -5.27741034e-01 7.87432250e-01 1.56265482e+02] [ 2.26300353e-01 8.49003539e-01 4.77473706e-01 -6.94489821e+01] [-9.20515235e-01 2.61226169e-02 3.89832415e-01 -3.93063244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:156.28, Y:-69.44, Z:-39.34 [[ 3.20242201e-01 -5.26862881e-01 7.87312160e-01 1.56275526e+02] [ 2.25939913e-01 8.49575178e-01 4.76626870e-01 -6.94422857e+01] [-9.19997874e-01 2.52492024e-02 3.91109179e-01 -3.93356894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.29, Y:-69.43, Z:-39.37 [[ 3.20042091e-01 -5.26556819e-01 7.87598233e-01 1.56285181e+02] [ 2.26623283e-01 8.49737840e-01 4.76012069e-01 -6.94340725e+01] [-9.19899423e-01 2.61441996e-02 3.91281910e-01 -3.93658483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:-69.43, Z:-39.39 [[ 3.18376767e-01 -5.27558423e-01 7.87602910e-01 1.56292084e+02] [ 2.27459751e-01 8.49078396e-01 4.76789197e-01 -6.94277547e+01] [-9.20270773e-01 2.73493583e-02 3.90325143e-01 -3.93931618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-69.42, Z:-39.42 [[ 3.19950587e-01 -5.35840975e-01 7.81348880e-01 1.56311416e+02] [ 2.28632036e-01 8.43994399e-01 4.85181252e-01 -6.94225215e+01] [-9.19434073e-01 2.34073588e-02 3.92546916e-01 -3.94230569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:156.32, Y:-69.41, Z:-39.45 [[ 3.20721063e-01 -5.25027554e-01 7.88342607e-01 1.56317858e+02] [ 2.27104167e-01 8.50657782e-01 4.74136094e-01 -6.94127729e+01] [-9.19544288e-01 2.69704585e-02 3.92059814e-01 -3.94530359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:-69.40, Z:-39.48 [[ 3.18965929e-01 -5.25985178e-01 7.88416342e-01 1.56323631e+02] [ 2.31241916e-01 8.49917719e-01 4.73462827e-01 -6.94041955e+01] [-9.19123448e-01 3.12963953e-02 3.92724615e-01 -3.94843820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-69.40, Z:-39.51 [[ 3.19992122e-01 -5.25008502e-01 7.88651453e-01 1.56337824e+02] [ 2.30058790e-01 8.50563889e-01 4.72878445e-01 -6.93979097e+01] [-9.19063651e-01 3.01188221e-02 3.92956564e-01 -3.95130924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:-69.39, Z:-39.54 [[ 3.19340895e-01 -5.24970241e-01 7.88940834e-01 1.56347945e+02] [ 2.31293656e-01 8.50532210e-01 4.72332727e-01 -6.93897902e+01] [-9.18980216e-01 3.16418543e-02 3.93032004e-01 -3.95437108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:-69.38, Z:-39.57 [[ 3.17219327e-01 -5.23815944e-01 7.90562303e-01 1.56351800e+02] [ 2.32725086e-01 8.51123891e-01 4.70560471e-01 -6.93818409e+01] [-9.19353541e-01 3.47128041e-02 3.91898059e-01 -3.95740176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:-69.37, Z:-39.60 [[ 3.21264552e-01 -5.22705335e-01 7.89663359e-01 1.56367109e+02] [ 2.33512144e-01 8.51844435e-01 4.68863665e-01 -6.93739823e+01] [-9.17747877e-01 3.37667087e-02 3.95725465e-01 -3.96045182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:-69.37, Z:-39.63 [[ 3.18470483e-01 -5.25129362e-01 7.89186736e-01 1.56375714e+02] [ 2.32234665e-01 8.50385632e-01 4.72134872e-01 -6.93653371e+01] [-9.19044945e-01 3.29154961e-02 3.92775965e-01 -3.96322463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:-69.36, Z:-39.66 [[ 3.16344772e-01 -5.23995117e-01 7.90793970e-01 1.56382619e+02] [ 2.30018269e-01 8.51097074e-01 4.71937885e-01 -6.93594950e+01] [-9.20335581e-01 3.26019772e-02 3.89768559e-01 -3.96609692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:-69.35, Z:-39.69 [[ 3.17852249e-01 -5.30305227e-01 7.85968392e-01 1.56398829e+02] [ 2.30738807e-01 8.47300307e-01 4.78374114e-01 -6.93536057e+01] [-9.19635553e-01 2.93011214e-02 3.91678304e-01 -3.96904794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:-69.34, Z:-39.72 [[ 3.16848674e-01 -5.15906806e-01 7.95893891e-01 1.56394038e+02] [ 2.30364269e-01 8.55861528e-01 4.63069486e-01 -6.93406755e+01] [-9.20075661e-01 3.66225623e-02 3.90025084e-01 -3.97206136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-69.34, Z:-39.75 [[ 3.16009720e-01 -5.29865143e-01 7.87007488e-01 1.56412953e+02] [ 2.28646831e-01 8.47598670e-01 4.78849789e-01 -6.93400743e+01] [-9.20792313e-01 2.86255805e-02 3.89001404e-01 -3.97491262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-69.33, Z:-39.78 [[ 3.16646546e-01 -5.35437429e-01 7.82969811e-01 1.56425163e+02] [ 2.28059010e-01 8.44205890e-01 4.85082985e-01 -6.93340470e+01] [-9.20719313e-01 2.49634683e-02 3.89426210e-01 -3.97772787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-69.33, Z:-39.81 [[ 3.16713688e-01 -5.31516197e-01 7.85609936e-01 1.56431677e+02] [ 2.25985520e-01 8.46680119e-01 4.81729510e-01 -6.93263787e+01] [-9.21207351e-01 2.49661400e-02 3.88270148e-01 -3.98081114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:-69.32, Z:-39.84 [[ 3.16078213e-01 -5.36614320e-01 7.82393529e-01 1.56443634e+02] [ 2.25065781e-01 8.43541812e-01 4.87629578e-01 -6.93215223e+01] [-9.21650670e-01 2.19609251e-02 3.87398710e-01 -3.98367692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:-69.32, Z:-39.86 [[ 3.18158525e-01 -5.51285770e-01 7.71271128e-01 1.56467803e+02] [ 2.22978822e-01 8.34236862e-01 5.04310720e-01 -6.93202116e+01] [-9.21442130e-01 1.15263725e-02 3.88344621e-01 -3.98626240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-69.30, Z:-39.90 [[ 3.18389608e-01 -5.30431579e-01 7.85665576e-01 1.56461115e+02] [ 2.20772828e-01 8.47497326e-01 4.82708651e-01 -6.93045598e+01] [-9.21893386e-01 1.97641928e-02 3.86939221e-01 -3.98963534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:-69.30, Z:-39.92 [[ 3.18470036e-01 -5.39537571e-01 7.79407497e-01 1.56478046e+02] [ 2.18760024e-01 8.41855260e-01 4.93379948e-01 -6.93022560e+01] [-9.22345320e-01 1.33764731e-02 3.86134927e-01 -3.99244551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-69.29, Z:-39.95 [[ 3.20442210e-01 -5.36107394e-01 7.80964565e-01 1.56487363e+02] [ 2.17866986e-01 8.44047760e-01 4.90017709e-01 -6.92939644e+01] [-9.21873509e-01 1.31240385e-02 3.87268632e-01 -3.99544738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:-69.29, Z:-39.98 [[ 3.22223088e-01 -5.40939091e-01 7.76889427e-01 1.56502955e+02] [ 2.15330037e-01 8.41029461e-01 4.96288647e-01 -6.92896464e+01] [-9.21848825e-01 7.37196891e-03 3.87479545e-01 -3.99823529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-69.28, Z:-40.01 [[ 3.23680926e-01 -5.36597939e-01 7.79290261e-01 1.56512216e+02] [ 2.14957049e-01 8.43796739e-01 4.91732174e-01 -6.92809738e+01] [-9.21425051e-01 8.34960981e-03 3.88466419e-01 -4.00120640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-69.27, Z:-40.04 [[ 3.31011871e-01 -5.37195445e-01 7.75791335e-01 1.56537702e+02] [ 2.13850425e-01 8.43453216e-01 4.92802869e-01 -6.92736547e+01] [-9.19075153e-01 2.77970667e-03 3.94072502e-01 -4.00412207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:-69.26, Z:-40.07 [[ 3.31487930e-01 -5.09854558e-01 7.93828749e-01 1.56530374e+02] [ 2.12122965e-01 8.60136306e-01 4.63863540e-01 -6.92559405e+01] [-9.19303867e-01 1.46241432e-02 3.93276664e-01 -4.00748097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:-69.25, Z:-40.11 [[ 3.28150433e-01 -5.00557974e-01 8.01098626e-01 1.56525468e+02] [ 2.13471013e-01 8.65416791e-01 4.53303325e-01 -6.92458585e+01] [-9.20188796e-01 2.22596530e-02 3.90841513e-01 -4.01077331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:-69.25, Z:-40.13 [[ 3.31774559e-01 -5.27573006e-01 7.82043711e-01 1.56564897e+02] [ 2.10706205e-01 8.49498783e-01 4.83688652e-01 -6.92515030e+01] [-9.19526257e-01 4.30587293e-03 3.93004990e-01 -4.01306659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:-69.24, Z:-40.16 [[ 3.32235682e-01 -5.05986076e-01 7.95988406e-01 1.56562023e+02] [ 2.10785677e-01 8.62413325e-01 4.60231089e-01 -6.92361329e+01] [-9.19341531e-01 1.48777652e-02 3.93179096e-01 -4.01643858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-69.23, Z:-40.20 [[ 3.34165810e-01 -4.97802279e-01 8.00328747e-01 1.56567910e+02] [ 2.11845377e-01 8.67085020e-01 4.50871493e-01 -6.92272146e+01] [-9.18397924e-01 1.88801078e-02 3.95207280e-01 -4.01965052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:-69.23, Z:-40.23 [[ 3.29887914e-01 -5.13983812e-01 7.91829909e-01 1.56584578e+02] [ 2.13820776e-01 8.57668003e-01 4.67639041e-01 -6.92277227e+01] [-9.19486074e-01 1.50412178e-02 3.92834726e-01 -4.02254685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-69.22, Z:-40.26 [[ 3.31058944e-01 -5.05837428e-01 7.96572955e-01 1.56595816e+02] [ 2.12562021e-01 8.62456239e-01 4.59332802e-01 -6.92190443e+01] [-9.19357038e-01 1.72549250e-02 3.93045678e-01 -4.02551620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:-69.20, Z:-40.29 [[ 3.30665545e-01 -4.87730749e-01 8.07947408e-01 1.56589019e+02] [ 2.20787744e-01 8.72326396e-01 4.36233229e-01 -6.92041421e+01] [-9.17558210e-01 3.41375870e-02 3.96133255e-01 -4.02946652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:-69.21, Z:-40.32 [[ 3.26552235e-01 -5.07291179e-01 7.97508180e-01 1.56612046e+02] [ 2.19719750e-01 8.61391995e-01 4.57959673e-01 -6.92091093e+01] [-9.19286065e-01 2.56805436e-02 3.92751372e-01 -4.03162522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-69.21, Z:-40.34 [[ 3.30641211e-01 -5.10056437e-01 7.94052153e-01 1.56632103e+02] [ 2.20632186e-01 8.59834637e-01 4.60440913e-01 -6.92051474e+01] [-9.17604396e-01 2.29527213e-02 3.96831632e-01 -4.03441238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:-69.20, Z:-40.37 [[ 3.26955877e-01 -5.17127007e-01 7.90999060e-01 1.56640655e+02] [ 2.23976652e-01 8.55556293e-01 4.66752492e-01 -6.92029295e+01] [-9.18114543e-01 2.45578507e-02 3.95553534e-01 -4.03697095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:-69.20, Z:-40.40 [[ 3.25492454e-01 -5.22809968e-01 7.87860647e-01 1.56658213e+02] [ 2.26265000e-01 8.52092862e-01 4.71955406e-01 -6.91998118e+01] [-9.18073424e-01 2.46473664e-02 3.95643394e-01 -4.03999513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-69.19, Z:-40.43 [[ 3.31309706e-01 -5.16833252e-01 7.89377773e-01 1.56671416e+02] [ 2.29211996e-01 8.55653898e-01 4.64023995e-01 -6.91905530e+01] [-9.15257199e-01 2.71992017e-02 4.01950822e-01 -4.04269931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-69.18, Z:-40.46 [[ 3.28752511e-01 -5.04936703e-01 7.98098185e-01 1.56673713e+02] [ 2.24796377e-01 8.62619736e-01 4.53159772e-01 -6.91820737e+01] [-9.17272247e-01 3.04321676e-02 3.97096346e-01 -4.04557441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:-69.19, Z:-40.48 [[ 3.29996043e-01 -5.32200769e-01 7.79656946e-01 1.56706035e+02] [ 2.29049986e-01 8.46383853e-01 4.80801910e-01 -6.91867189e+01] [-9.15772196e-01 1.99176849e-02 4.01203902e-01 -4.04828884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:-69.17, Z:-40.52 [[ 3.27270283e-01 -5.07717500e-01 7.96942346e-01 1.56695045e+02] [ 2.28510388e-01 8.60878688e-01 4.54610698e-01 -6.91724973e+01] [-9.16884488e-01 3.33290330e-02 3.97758735e-01 -4.05174561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.72, Y:-69.17, Z:-40.54 [[ 3.25852634e-01 -5.20721083e-01 7.89094174e-01 1.56717782e+02] [ 2.24364824e-01 8.53397000e-01 4.70503969e-01 -6.91714369e+01] [-9.18411937e-01 2.37300180e-02 3.94913154e-01 -4.05448339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-69.16, Z:-40.58 [[ 3.25921675e-01 -5.10017100e-01 7.96026143e-01 1.56721072e+02] [ 2.25452474e-01 8.59639479e-01 4.58466081e-01 -6.91617059e+01] [-9.18121040e-01 3.00420302e-02 3.95159756e-01 -4.05774302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:-69.16, Z:-40.61 [[ 3.28337933e-01 -5.08509719e-01 7.95997530e-01 1.56736622e+02] [ 2.23297280e-01 8.60617989e-01 4.57684391e-01 -6.91556196e+01] [-9.17786754e-01 2.74689364e-02 3.96122369e-01 -4.06055839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-69.15, Z:-40.64 [[ 3.30520804e-01 -5.07722953e-01 7.95596255e-01 1.56747577e+02] [ 2.23349624e-01 8.61105516e-01 4.56740885e-01 -6.91495979e+01] [-9.16990154e-01 2.67337603e-02 3.98013018e-01 -4.06355444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-69.14, Z:-40.66 [[ 3.29648783e-01 -5.06490104e-01 7.96743029e-01 1.56759472e+02] [ 2.20566114e-01 8.61877318e-01 4.56637797e-01 -6.91442026e+01] [-9.17977271e-01 2.52044195e-02 3.95831363e-01 -4.06642722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-69.14, Z:-40.69 [[ 3.32028773e-01 -5.05715893e-01 7.96246400e-01 1.56771465e+02] [ 2.20751860e-01 8.62352576e-01 4.55649702e-01 -6.91381665e+01] [-9.17074430e-01 2.44840624e-02 3.97963592e-01 -4.06945396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-69.13, Z:-40.73 [[ 3.33855525e-01 -4.90423211e-01 8.05000349e-01 1.56772467e+02] [ 2.20303778e-01 8.70943330e-01 4.39231103e-01 -6.91273078e+01] [-9.16518813e-01 3.07048880e-02 3.98811329e-01 -4.07270499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:-69.13, Z:-40.76 [[ 3.33919378e-01 -4.99591235e-01 7.99316237e-01 1.56790848e+02] [ 2.19897024e-01 8.65879164e-01 4.49331250e-01 -6.91255273e+01] [-9.16593229e-01 2.57268500e-02 3.98992458e-01 -4.07559681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.83, Y:-69.13, Z:-40.78 [[ 3.35204792e-01 -5.31316539e-01 7.78036300e-01 1.56828463e+02] [ 2.18739783e-01 8.47136919e-01 4.84264336e-01 -6.91307559e+01] [-9.16400925e-01 7.85976559e-03 4.00184419e-01 -4.07756249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.82, Y:-69.11, Z:-40.81 [[ 3.35520805e-01 -5.03484848e-01 7.96196456e-01 1.56820527e+02] [ 2.18685684e-01 8.63729531e-01 4.54035096e-01 -6.91130420e+01] [-9.16298183e-01 2.17785459e-02 3.99904157e-01 -4.08110152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.83, Y:-69.11, Z:-40.84 [[ 3.35483337e-01 -5.01477873e-01 7.97477820e-01 1.56830330e+02] [ 2.17696196e-01 8.64893960e-01 4.52290619e-01 -6.91070331e+01] [-9.16547487e-01 2.18719219e-02 3.99327337e-01 -4.08405572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-69.09, Z:-40.88 [[ 3.32501535e-01 -4.77860676e-01 8.13075583e-01 1.56822784e+02] [ 2.14528921e-01 8.77850732e-01 4.28200227e-01 -6.90943841e+01] [-9.18379046e-01 3.20509950e-02 3.94401651e-01 -4.08756966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.85, Y:-69.10, Z:-40.90 [[ 3.36552964e-01 -5.02898279e-01 7.96131536e-01 1.56854386e+02] [ 2.16890970e-01 8.64118191e-01 4.54156425e-01 -6.90970984e+01] [-9.16346228e-01 1.98260498e-02 3.99895634e-01 -4.09005674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-69.10, Z:-40.92 [[ 3.36863099e-01 -5.25598541e-01 7.81197431e-01 1.56884641e+02] [ 2.15572879e-01 8.50704657e-01 4.79405799e-01 -6.91016381e+01] [-9.16543281e-01 6.91085631e-03 3.99875798e-01 -4.09248215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-69.08, Z:-40.96 [[ 3.34111444e-01 -4.78004872e-01 8.12330527e-01 1.56859077e+02] [ 2.13194617e-01 8.77848338e-01 4.28871019e-01 -6.90795805e+01] [-9.18105440e-01 2.98937801e-02 3.95207241e-01 -4.09644476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-69.10, Z:-40.98 [[ 3.44562461e-01 -5.48326028e-01 7.61981153e-01 1.56936418e+02] [ 2.16222441e-01 8.36217369e-01 5.03972586e-01 -6.90986263e+01] [-9.13523162e-01 -8.89260990e-03 4.06689507e-01 -4.09765338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-69.07, Z:-41.02 [[ 3.45152245e-01 -4.95417932e-01 7.97139260e-01 1.56911723e+02] [ 2.15474259e-01 8.68475049e-01 4.46454850e-01 -6.90733491e+01] [-9.13477297e-01 1.76680973e-02 4.06505925e-01 -4.10158640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-69.06, Z:-41.05 [[ 3.44567689e-01 -4.79770451e-01 8.06903602e-01 1.56912183e+02] [ 2.15280977e-01 8.77017300e-01 4.29528529e-01 -6.90621951e+01] [-9.13743514e-01 2.57093434e-02 4.05477275e-01 -4.10492881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:-69.05, Z:-41.08 [[ 3.37547671e-01 -4.50655792e-01 8.26420551e-01 1.56891779e+02] [ 2.15692393e-01 8.91619127e-01 3.98110694e-01 -6.90485632e+01] [-9.16263260e-01 4.38712887e-02 3.98166986e-01 -4.10841516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:156.92, Y:-69.06, Z:-41.11 [[ 3.36473228e-01 -4.82967583e-01 8.08410837e-01 1.56922431e+02] [ 2.16044357e-01 8.75158361e-01 4.32923410e-01 -6.90576081e+01] [-9.16575476e-01 2.89854623e-02 3.98809779e-01 -4.11081713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:156.94, Y:-69.06, Z:-41.13 [[ 3.35869904e-01 -4.96968284e-01 8.00133696e-01 1.56941561e+02] [ 2.15949304e-01 8.67482948e-01 4.48150905e-01 -6.90577715e+01] [-9.16819124e-01 2.22679138e-02 3.98681369e-01 -4.11319496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-69.05, Z:-41.16 [[ 3.31633272e-01 -4.83999027e-01 8.09792760e-01 1.56941127e+02] [ 2.13739640e-01 8.74595841e-01 4.35198210e-01 -6.90505826e+01] [-9.18876890e-01 2.87586062e-02 3.93494858e-01 -4.11640812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-69.05, Z:-41.19 [[ 3.34560453e-01 -5.01724343e-01 7.97710465e-01 1.56967204e+02] [ 2.15912364e-01 8.64783181e-01 4.53356262e-01 -6.90516270e+01] [-9.17306467e-01 2.05604757e-02 3.97650742e-01 -4.11905617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-69.05, Z:-41.21 [[ 3.38113454e-01 -5.26086928e-01 7.80328031e-01 1.57003031e+02] [ 2.16068298e-01 8.50406662e-01 4.79711371e-01 -6.90549814e+01] [-9.15966038e-01 6.40728135e-03 4.01204641e-01 -4.12145337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:-69.04, Z:-41.25 [[ 3.38656781e-01 -4.93346910e-01 8.01199358e-01 1.56993133e+02] [ 2.15755423e-01 8.69543646e-01 4.44233548e-01 -6.90387472e+01] [-9.15839059e-01 2.24204029e-02 4.00919124e-01 -4.12506452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-69.02, Z:-41.29 [[ 3.33288579e-01 -4.58439173e-01 8.23864217e-01 1.56971840e+02] [ 2.13754083e-01 8.87812853e-01 4.07550648e-01 -6.90209525e+01] [-9.18274423e-01 4.02723634e-02 3.93891129e-01 -4.12862922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-69.04, Z:-41.30 [[ 3.45437252e-01 -5.32895436e-01 7.72460717e-01 1.57054397e+02] [ 2.14747326e-01 8.46177131e-01 4.87716977e-01 -6.90417339e+01] [-9.13540744e-01 -2.59173903e-03 4.06738972e-01 -4.12999886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-69.01, Z:-41.34 [[ 3.36816298e-01 -4.62614264e-01 8.20087083e-01 1.57002786e+02] [ 2.12454904e-01 8.85856264e-01 4.12457989e-01 -6.90097333e+01] [-9.17288229e-01 3.53089499e-02 3.96655497e-01 -4.13437838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:-69.01, Z:-41.37 [[ 3.34031016e-01 -4.67300603e-01 8.18567912e-01 1.57011290e+02] [ 2.07756364e-01 8.83593122e-01 4.19643287e-01 -6.90060945e+01] [-9.19380538e-01 2.98888199e-02 3.92232183e-01 -4.13713655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:-69.01, Z:-41.40 [[ 3.34860120e-01 -4.98334984e-01 7.99706786e-01 1.57044100e+02] [ 2.06689211e-01 8.66881284e-01 4.53647891e-01 -6.90127522e+01] [-9.19319460e-01 1.33821778e-02 3.93284436e-01 -4.13961494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:157.06, Y:-69.01, Z:-41.43 [[ 3.36226268e-01 -4.97403904e-01 7.99713232e-01 1.57055086e+02] [ 2.06016601e-01 8.67429374e-01 4.52905554e-01 -6.90064674e+01] [-9.18971739e-01 1.24754574e-02 3.94126003e-01 -4.14253971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-69.00, Z:-41.45 [[ 3.43889326e-01 -5.07262430e-01 7.90205643e-01 1.57079058e+02] [ 2.07695843e-01 8.61777343e-01 4.62819887e-01 -6.90040970e+01] [-9.15752460e-01 4.96360788e-03 4.01712328e-01 -4.14523247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-68.99, Z:-41.49 [[ 3.41279654e-01 -4.93874655e-01 7.99759979e-01 1.57080968e+02] [ 2.06394438e-01 8.69451853e-01 4.48837177e-01 -6.89911113e+01] [-9.17022101e-01 1.18870145e-02 3.98659209e-01 -4.14858869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:-68.98, Z:-41.52 [[ 3.41003909e-01 -4.85676580e-01 8.04881727e-01 1.57085654e+02] [ 2.07309514e-01 8.73973730e-01 4.39536899e-01 -6.89799916e+01] [-9.16918262e-01 1.69758389e-02 3.98713834e-01 -4.15160513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-68.97, Z:-41.55 [[ 3.37737234e-01 -4.69949269e-01 8.15525135e-01 1.57080705e+02] [ 2.07920806e-01 8.82282393e-01 4.22311162e-01 -6.89671371e+01] [-9.17988289e-01 2.69344395e-02 3.95691846e-01 -4.15476634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:-68.97, Z:-41.57 [[ 3.35150594e-01 -4.97328352e-01 8.00211590e-01 1.57108661e+02] [ 2.08484103e-01 8.67425415e-01 4.51782611e-01 -6.89709722e+01] [-9.18808173e-01 1.54161850e-02 3.94403199e-01 -4.15740782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.12, Y:-68.96, Z:-41.60 [[ 3.32633336e-01 -4.97844604e-01 8.00940581e-01 1.57118756e+02] [ 2.10800200e-01 8.67064885e-01 4.51399779e-01 -6.89633915e+01] [-9.19194397e-01 1.86878206e-02 3.93360428e-01 -4.16035394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:157.13, Y:-68.96, Z:-41.63 [[ 3.31729874e-01 -4.97821541e-01 8.01329523e-01 1.57129795e+02] [ 2.12003640e-01 8.67041549e-01 4.50880704e-01 -6.89563565e+01] [-9.19244117e-01 2.03141767e-02 3.93163563e-01 -4.16330375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:-68.95, Z:-41.66 [[ 3.29347868e-01 -4.95320056e-01 8.03858211e-01 1.57136733e+02] [ 2.13473032e-01 8.68373920e-01 4.47611439e-01 -6.89483786e+01] [-9.19760429e-01 2.41821761e-02 3.91734573e-01 -4.16636665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:-68.94, Z:-41.69 [[ 3.27188666e-01 -4.99812375e-01 8.01957085e-01 1.57150773e+02] [ 2.16478423e-01 8.65744467e-01 4.51246729e-01 -6.89426622e+01] [-9.19828609e-01 2.59635901e-02 3.91460372e-01 -4.16934448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-68.94, Z:-41.72 [[ 3.26813324e-01 -4.98630409e-01 8.02845419e-01 1.57160551e+02] [ 2.17747957e-01 8.66364471e-01 4.49442356e-01 -6.89353039e+01] [-9.19662372e-01 2.79341990e-02 3.91715205e-01 -4.17246642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:-68.93, Z:-41.75 [[ 3.28448842e-01 -5.03824191e-01 7.98925868e-01 1.57177212e+02] [ 2.19640050e-01 8.63405817e-01 4.54190097e-01 -6.89292639e+01] [-9.18629200e-01 2.62979065e-02 3.94244611e-01 -4.17543281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:-68.92, Z:-41.79 [[ 3.28613531e-01 -4.87269597e-01 8.09062104e-01 1.57174899e+02] [ 2.19880615e-01 8.72567724e-01 4.36208761e-01 -6.89162948e+01] [-9.18512745e-01 3.45529719e-02 3.93878699e-01 -4.17865368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.19, Y:-68.91, Z:-41.82 [[ 3.35835958e-01 -4.91212057e-01 8.03694547e-01 1.57194195e+02] [ 2.21724904e-01 8.70501118e-01 4.39392616e-01 -6.89108905e+01] [-9.15451952e-01 3.06352562e-02 4.01259523e-01 -4.18154537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-68.91, Z:-41.84 [[ 3.36697865e-01 -5.06866086e-01 7.93549821e-01 1.57223233e+02] [ 2.18129760e-01 8.61817235e-01 4.57919711e-01 -6.89083615e+01] [-9.15998884e-01 1.89162429e-02 4.00734601e-01 -4.18432860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:-68.88, Z:-41.88 [[ 3.32579488e-01 -4.43334759e-01 8.32373219e-01 1.57179461e+02] [ 2.17349819e-01 8.94888024e-01 3.89787738e-01 -6.88770652e+01] [-9.17687278e-01 5.12807620e-02 3.93980131e-01 -4.18826725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-68.89, Z:-41.91 [[ 3.32607962e-01 -4.87989476e-01 8.06993318e-01 1.57221032e+02] [ 2.15493172e-01 8.72400990e-01 4.38724521e-01 -6.88896505e+01] [-9.18114718e-01 2.79782807e-02 3.95325916e-01 -4.19059063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:-68.88, Z:-41.94 [[ 3.35959559e-01 -4.83398774e-01 8.08366748e-01 1.57231103e+02] [ 2.12507937e-01 8.75024052e-01 4.34940554e-01 -6.88811596e+01] [-9.17590078e-01 2.56619130e-02 3.96698771e-01 -4.19351316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-68.87, Z:-41.97 [[ 3.33930797e-01 -4.66048307e-01 8.19322402e-01 1.57224617e+02] [ 2.10928334e-01 8.84121444e-01 4.16939455e-01 -6.88680970e+01] [-9.18694433e-01 3.35893851e-02 3.93538171e-01 -4.19689278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:-68.87, Z:-41.99 [[ 3.36518563e-01 -4.94855074e-01 8.01170214e-01 1.57258951e+02] [ 2.09296406e-01 8.68815467e-01 4.48725639e-01 -6.88731262e+01] [-9.18123233e-01 1.66775398e-02 3.95943921e-01 -4.19941024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:-68.85, Z:-42.03 [[ 3.35141471e-01 -4.66402727e-01 8.18626100e-01 1.57244858e+02] [ 2.07222052e-01 8.84088466e-01 4.18863469e-01 -6.88547671e+01] [-9.19096957e-01 2.92588608e-02 3.92943639e-01 -4.20293413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:-68.86, Z:-42.05 [[ 3.36192542e-01 -4.93089994e-01 8.02394437e-01 1.57276293e+02] [ 2.06343655e-01 8.69850273e-01 4.48087937e-01 -6.88595481e+01] [-9.18910698e-01 1.49251784e-02 3.94183166e-01 -4.20534312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-68.84, Z:-42.09 [[ 3.34651809e-01 -4.71827546e-01 8.15712531e-01 1.57269851e+02] [ 2.06172165e-01 8.81310732e-01 4.25187525e-01 -6.88448565e+01] [-9.19511395e-01 2.58874444e-02 3.92209938e-01 -4.20869534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73361786499996 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:157.28, Y:-68.84, Z:-42.12 [[ 3.33662181e-01 -4.71061490e-01 8.16560237e-01 1.57276540e+02] [ 2.04987004e-01 8.81728442e-01 4.24894438e-01 -6.88427503e+01] [-9.20135793e-01 2.56130315e-02 3.90760918e-01 -4.21152985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76361786499996 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:157.29, Y:-68.84, Z:-42.14 [[ 3.32749119e-01 -4.70540088e-01 8.17233167e-01 1.57288056e+02] [ 2.05396043e-01 8.81974296e-01 4.24186051e-01 -6.88372759e+01] [-9.20375189e-01 2.67089236e-02 3.90123242e-01 -4.21404006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79361786499996 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:157.30, Y:-68.83, Z:-42.16 [[ 3.30576109e-01 -4.72431042e-01 8.17024080e-01 1.57298712e+02] [ 2.07817343e-01 8.80883566e-01 4.25271789e-01 -6.88328700e+01] [-9.20614679e-01 2.92070802e-02 3.89378426e-01 -4.21648326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:-68.84, Z:-42.18 [[ 3.31896997e-01 -5.05137756e-01 7.96668206e-01 1.57337999e+02] [ 2.09126224e-01 8.62926417e-01 4.60026326e-01 -6.88358100e+01] [-9.19842707e-01 1.39228575e-02 3.92040238e-01 -4.21772726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85361786499996 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:157.32, Y:-68.82, Z:-42.22 [[ 3.29963693e-01 -4.66455865e-01 8.20696587e-01 1.57315419e+02] [ 2.08517814e-01 8.83927921e-01 4.18559137e-01 -6.88197228e+01] [-9.20675992e-01 3.30205397e-02 3.88928479e-01 -4.22188241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88361786499996 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:157.32, Y:-68.82, Z:-42.24 [[ 3.30028644e-01 -4.69708870e-01 8.18812965e-01 1.57324613e+02] [ 2.08639147e-01 8.82257033e-01 4.22009756e-01 -6.88155436e+01] [-9.20625223e-01 3.15611311e-02 3.89169750e-01 -4.22423609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-68.82, Z:-42.26 [[ 3.32549020e-01 -5.02124182e-01 7.98299728e-01 1.57363026e+02] [ 2.08917014e-01 8.64667906e-01 4.56840337e-01 -6.88180584e+01] [-9.19654734e-01 1.48565896e-02 3.92446749e-01 -4.22565619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94361786499996 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:157.34, Y:-68.80, Z:-42.30 [[ 3.30255845e-01 -4.61981068e-01 8.23106658e-01 1.57337978e+02] [ 2.07462284e-01 8.86238597e-01 4.14174540e-01 -6.88004307e+01] [-9.20809686e-01 3.39800245e-02 3.88529124e-01 -4.22978463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:-68.81, Z:-42.31 [[ 3.34488216e-01 -5.03212163e-01 7.96803083e-01 1.57381502e+02] [ 2.06848961e-01 8.64088620e-01 4.58872928e-01 -6.88070661e+01] [-9.19418915e-01 1.13303030e-02 3.93116374e-01 -4.23088546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-68.80, Z:-42.34 [[ 3.35542288e-01 -4.93498454e-01 8.02415509e-01 1.57385429e+02] [ 2.06075316e-01 8.69620494e-01 4.48657064e-01 -6.87971231e+01] [-9.19208538e-01 1.48146119e-02 3.93492300e-01 -4.23406698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:157.40, Y:-68.79, Z:-42.37 [[ 3.36904514e-01 -4.92823505e-01 8.02259522e-01 1.57396099e+02] [ 2.05143384e-01 8.70023892e-01 4.48301929e-01 -6.87907448e+01] [-9.18918680e-01 1.35432898e-02 3.94214458e-01 -4.23708325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-68.78, Z:-42.40 [[ 3.38139792e-01 -4.91593559e-01 8.02494395e-01 1.57405572e+02] [ 2.03444012e-01 8.70743662e-01 4.47678466e-01 -6.87841815e+01] [-9.18842759e-01 1.18847755e-02 3.94444847e-01 -4.24006751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-68.78, Z:-42.43 [[ 3.38754580e-01 -4.90777022e-01 8.02734856e-01 1.57414221e+02] [ 2.02689657e-01 8.71212625e-01 4.47107890e-01 -6.87786564e+01] [-9.18783020e-01 1.12462072e-02 3.94602694e-01 -4.24257530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:-68.77, Z:-42.45 [[ 3.38418157e-01 -4.90357170e-01 8.03133237e-01 1.57423726e+02] [ 2.00418273e-01 8.71470046e-01 4.47629841e-01 -6.87727232e+01] [-9.19405061e-01 9.47651121e-03 3.93197824e-01 -4.24516573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:-68.77, Z:-42.48 [[ 3.38465157e-01 -4.90478812e-01 8.03039148e-01 1.57434758e+02] [ 1.99236832e-01 8.71413852e-01 4.48266197e-01 -6.87665064e+01] [-9.19644509e-01 8.27248712e-03 3.92664671e-01 -4.24814067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:-68.76, Z:-42.51 [[ 3.38545757e-01 -4.89981177e-01 8.03308918e-01 1.57445710e+02] [ 1.98029536e-01 8.71702204e-01 4.48240527e-01 -6.87599056e+01] [-9.19875575e-01 7.32896423e-03 3.92141828e-01 -4.25120055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.46, Y:-68.75, Z:-42.54 [[ 3.38853829e-01 -4.88935244e-01 8.03816154e-01 1.57455881e+02] [ 1.96441626e-01 8.72298254e-01 4.47779458e-01 -6.87532539e+01] [-9.20102587e-01 6.17116852e-03 3.91628838e-01 -4.25419965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:157.47, Y:-68.75, Z:-42.57 [[ 3.38978159e-01 -4.88194128e-01 8.04214089e-01 1.57466616e+02] [ 1.95655590e-01 8.72716313e-01 4.47308760e-01 -6.87467690e+01] [-9.20224265e-01 5.72108223e-03 3.91349679e-01 -4.25723451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:-68.74, Z:-42.60 [[ 3.38093616e-01 -4.87533512e-01 8.04986821e-01 1.57477010e+02] [ 1.94709025e-01 8.73086249e-01 4.46999773e-01 -6.87408197e+01] [-9.20750293e-01 5.61042970e-03 3.90112062e-01 -4.26030059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-68.73, Z:-42.63 [[ 3.38017320e-01 -4.87098350e-01 8.05282242e-01 1.57488127e+02] [ 1.94954879e-01 8.73325858e-01 4.46424172e-01 -6.87348513e+01] [-9.20726282e-01 6.09459991e-03 3.90161465e-01 -4.26327129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-68.73, Z:-42.66 [[ 3.37667333e-01 -4.86717921e-01 8.05659008e-01 1.57499386e+02] [ 1.95119013e-01 8.73534122e-01 4.45944737e-01 -6.87290646e+01] [-9.20819930e-01 6.61842063e-03 3.89931858e-01 -4.26631331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:-68.72, Z:-42.69 [[ 3.37357387e-01 -4.86411087e-01 8.05974099e-01 1.57510088e+02] [ 1.95676353e-01 8.73698248e-01 4.45378644e-01 -6.87234635e+01] [-9.20815268e-01 7.45829687e-03 3.89927706e-01 -4.26921820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-68.72, Z:-42.72 [[ 3.37397902e-01 -4.86355278e-01 8.05990818e-01 1.57521417e+02] [ 1.97134505e-01 8.73716349e-01 4.44699593e-01 -6.87183174e+01] [-9.20489349e-01 8.84789123e-03 3.90667471e-01 -4.27231556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:-68.71, Z:-42.75 [[ 3.37425847e-01 -4.86029694e-01 8.06175499e-01 1.57532364e+02] [ 1.97767154e-01 8.73889659e-01 4.44077715e-01 -6.87124632e+01] [-9.20343387e-01 9.59173492e-03 3.90993668e-01 -4.27537307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:-68.71, Z:-42.78 [[ 3.37740206e-01 -4.85620530e-01 8.06290427e-01 1.57543411e+02] [ 1.98319659e-01 8.74110784e-01 4.43395590e-01 -6.87069940e+01] [-9.20109160e-01 1.01507246e-02 3.91530455e-01 -4.27833291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.55, Y:-68.70, Z:-42.81 [[ 3.37127553e-01 -4.85400969e-01 8.06678940e-01 1.57554720e+02] [ 1.98907355e-01 8.74220740e-01 4.42915299e-01 -6.87022810e+01] [-9.20206975e-01 1.11354235e-02 3.91273722e-01 -4.28140226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:157.56, Y:-68.70, Z:-42.84 [[ 3.37254984e-01 -4.85141826e-01 8.06781559e-01 1.57564931e+02] [ 1.99783283e-01 8.74352765e-01 4.42259971e-01 -6.86968711e+01] [-9.19970497e-01 1.20270892e-02 3.91803054e-01 -4.28445610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:157.58, Y:-68.69, Z:-42.87 [[ 3.37384544e-01 -4.84546961e-01 8.07084823e-01 1.57577062e+02] [ 1.99618795e-01 8.74681670e-01 4.41683499e-01 -6.86910221e+01] [-9.19958698e-01 1.20921138e-02 3.91828757e-01 -4.28733620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:157.59, Y:-68.69, Z:-42.90 [[ 3.36702295e-01 -4.84111520e-01 8.07630857e-01 1.57588211e+02] [ 1.99455650e-01 8.74916976e-01 4.41290980e-01 -6.86851972e+01] [-9.20243994e-01 1.25028514e-02 3.91145331e-01 -4.29041567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-68.68, Z:-42.93 [[ 3.36432757e-01 -4.83596378e-01 8.08051696e-01 1.57599143e+02] [ 1.99358722e-01 8.75197524e-01 4.40778170e-01 -6.86796725e+01] [-9.20363569e-01 1.27999390e-02 3.90854272e-01 -4.29338610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-68.67, Z:-42.96 [[ 3.36498053e-01 -4.83065470e-01 8.08342015e-01 1.57610285e+02] [ 1.99256759e-01 8.75488820e-01 4.40245466e-01 -6.86733196e+01] [-9.20361779e-01 1.29258677e-02 3.90854343e-01 -4.29647730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:157.62, Y:-68.67, Z:-43.00 [[ 3.37010981e-01 -4.82730866e-01 8.08328219e-01 1.57621515e+02] [ 1.99160062e-01 8.75676228e-01 4.39916370e-01 -6.86673367e+01] [-9.20195016e-01 1.27300504e-02 3.91253214e-01 -4.29950609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.63, Y:-68.66, Z:-43.02 [[ 3.37286136e-01 -4.82180044e-01 8.08542187e-01 1.57631893e+02] [ 1.99222936e-01 8.75976957e-01 4.39288734e-01 -6.86617875e+01] [-9.20080586e-01 1.29141487e-02 3.91516207e-01 -4.30243499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:-68.66, Z:-43.05 [[ 3.39945553e-01 -4.81688171e-01 8.07721194e-01 1.57645425e+02] [ 2.00001163e-01 8.76253266e-01 4.38383108e-01 -6.86556166e+01] [-9.18932291e-01 1.25187903e-02 3.94216595e-01 -4.30533652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:-68.66, Z:-43.08 [[ 3.41215607e-01 -5.02654931e-01 7.94298389e-01 1.57674874e+02] [ 1.99063464e-01 8.64486917e-01 4.61558346e-01 -6.86581959e+01] [-9.18665144e-01 6.24877771e-04 3.95036660e-01 -4.30795742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.64, Y:-68.63, Z:-43.12 [[ 3.38134124e-01 -4.48246657e-01 8.27490332e-01 1.57643695e+02] [ 1.97837885e-01 8.93490256e-01 4.03156711e-01 -6.86314494e+01] [-9.20068196e-01 2.73878962e-02 3.90799716e-01 -4.31183211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:-68.64, Z:-43.14 [[ 3.37494601e-01 -4.79774364e-01 8.09885149e-01 1.57676557e+02] [ 1.96309486e-01 8.77320503e-01 4.37917025e-01 -6.86385226e+01] [-9.20630208e-01 1.11935059e-02 3.90275192e-01 -4.31429146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-68.63, Z:-43.17 [[ 3.37289184e-01 -4.79112986e-01 8.10362113e-01 1.57686911e+02] [ 1.95761927e-01 8.77683103e-01 4.37435297e-01 -6.86320139e+01] [-9.20822065e-01 1.10958546e-02 3.89825098e-01 -4.31723995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-68.62, Z:-43.21 [[ 3.34125072e-01 -4.74664316e-01 8.14281416e-01 1.57687570e+02] [ 1.95703230e-01 8.80042751e-01 4.32695046e-01 -6.86242442e+01] [-9.21987355e-01 1.47832397e-02 3.86937687e-01 -4.32050064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:-68.62, Z:-43.23 [[ 3.33839891e-01 -4.83020688e-01 8.09470161e-01 1.57704812e+02] [ 1.94748039e-01 8.75551370e-01 4.42134594e-01 -6.86216601e+01] [-9.22292865e-01 1.00405621e-02 3.86361306e-01 -4.32340971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:-68.61, Z:-43.27 [[ 3.33866214e-01 -4.72110911e-01 8.15870479e-01 1.57706407e+02] [ 1.95907046e-01 8.81388067e-01 4.29855214e-01 -6.86109973e+01] [-9.22037841e-01 1.63206427e-02 3.86755551e-01 -4.32670584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:-68.61, Z:-43.29 [[ 3.33342798e-01 -4.90038347e-01 8.05447079e-01 1.57730536e+02] [ 1.94287166e-01 8.71676576e-01 4.49924931e-01 -6.86126402e+01] [-9.22569822e-01 6.50879521e-03 3.85775271e-01 -4.32920934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-68.60, Z:-43.32 [[ 3.34216947e-01 -4.85937370e-01 8.07566656e-01 1.57740865e+02] [ 1.94159485e-01 8.73958001e-01 4.45532836e-01 -6.86043009e+01] [-9.22280395e-01 7.89210225e-03 3.86440925e-01 -4.33230395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.75, Y:-68.60, Z:-43.35 [[ 3.35143511e-01 -4.82030588e-01 8.09521673e-01 1.57751468e+02] [ 1.93836545e-01 8.76108448e-01 4.41431060e-01 -6.85961056e+01] [-9.22012050e-01 8.97212858e-03 3.87057205e-01 -4.33533011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:-68.58, Z:-43.38 [[ 3.35328693e-01 -4.71603844e-01 8.15563904e-01 1.57755362e+02] [ 1.93862162e-01 8.81701462e-01 4.30139504e-01 -6.85847916e+01] [-9.21939331e-01 1.38688640e-02 3.87085940e-01 -4.33839579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-68.58, Z:-43.41 [[ 3.35539034e-01 -4.73288607e-01 8.14500737e-01 1.57767663e+02] [ 1.93804510e-01 8.80812864e-01 4.31982071e-01 -6.85789850e+01] [-9.21874920e-01 1.29070695e-02 3.87272564e-01 -4.34144121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:-68.57, Z:-43.44 [[ 3.34111756e-01 -4.75098667e-01 8.14033532e-01 1.57778797e+02] [ 1.93106898e-01 8.79849240e-01 4.34252279e-01 -6.85731396e+01] [-9.22539463e-01 1.21066984e-02 3.85712804e-01 -4.34433242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:-68.57, Z:-43.47 [[ 3.33570393e-01 -4.79533275e-01 8.11651792e-01 1.57791816e+02] [ 1.93830461e-01 8.77455143e-01 4.38750754e-01 -6.85672326e+01] [-9.22583625e-01 1.09685791e-02 3.85641213e-01 -4.34720283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:-68.56, Z:-43.50 [[ 3.32503328e-01 -4.71386499e-01 8.16845337e-01 1.57794413e+02] [ 1.93887239e-01 8.81791947e-01 4.29942672e-01 -6.85574275e+01] [-9.22956811e-01 1.54185182e-02 3.84594584e-01 -4.35029877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:-68.56, Z:-43.53 [[ 3.31821399e-01 -4.84951453e-01 8.09145628e-01 1.57813660e+02] [ 1.93632989e-01 8.74493593e-01 4.44710268e-01 -6.85563841e+01] [-9.23255558e-01 9.11290335e-03 3.84078286e-01 -4.35306631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.82, Y:-68.55, Z:-43.56 [[ 3.34918501e-01 -4.80914331e-01 8.10278350e-01 1.57822542e+02] [ 1.93887414e-01 8.76714260e-01 4.40204245e-01 -6.85490503e+01] [-9.22083113e-01 9.67022750e-03 3.86871062e-01 -4.35584442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:-68.54, Z:-43.59 [[ 3.32900266e-01 -4.89606748e-01 8.05892453e-01 1.57839257e+02] [ 1.94901897e-01 8.71910854e-01 4.49204534e-01 -6.85449748e+01] [-9.22599948e-01 7.52965926e-03 3.85684639e-01 -4.35901956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.85, Y:-68.54, Z:-43.62 [[ 3.33370430e-01 -4.83474217e-01 8.09392883e-01 1.57846973e+02] [ 1.95016480e-01 8.75297737e-01 4.42518297e-01 -6.85361537e+01] [-9.22405946e-01 1.03224363e-02 3.86083823e-01 -4.36193510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:-68.52, Z:-43.65 [[ 3.37823330e-01 -4.64470590e-01 8.18622299e-01 1.57843367e+02] [ 1.96140770e-01 8.85401499e-01 4.21417825e-01 -6.85227011e+01] [-9.20545597e-01 1.82004353e-02 3.90210902e-01 -4.36491437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.88, Y:-68.53, Z:-43.67 [[ 3.34306334e-01 -5.00716658e-01 7.98449813e-01 1.57879331e+02] [ 1.94871126e-01 8.65610116e-01 4.61242206e-01 -6.85304681e+01] [-9.22097890e-01 1.39862330e-03 3.86954163e-01 -4.36749909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:-68.51, Z:-43.71 [[ 3.33704504e-01 -4.72449258e-01 8.15740769e-01 1.57869506e+02] [ 1.95560204e-01 8.81214254e-01 4.30369197e-01 -6.85125058e+01] [-9.22170001e-01 1.59102919e-02 3.86457439e-01 -4.37105717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.89, Y:-68.51, Z:-43.74 [[ 3.33550597e-01 -4.82510404e-01 8.09893641e-01 1.57887178e+02] [ 1.95438047e-01 8.75820040e-01 4.41297210e-01 -6.85105278e+01] [-9.22251576e-01 1.10890839e-02 3.86431188e-01 -4.37377967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44361786499996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:157.90, Y:-68.50, Z:-43.77 [[ 3.34314992e-01 -4.81282637e-01 8.10308897e-01 1.57897386e+02] [ 1.95033112e-01 8.76497756e-01 4.40129264e-01 -6.85034904e+01] [-9.22060503e-01 1.08952542e-02 3.86892391e-01 -4.37678317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.91, Y:-68.50, Z:-43.80 [[ 3.35601369e-01 -4.85271450e-01 8.07392929e-01 1.57912290e+02] [ 1.94852807e-01 8.74325610e-01 4.44507717e-01 -6.84987752e+01] [-9.21631220e-01 8.14538016e-03 3.87981376e-01 -4.37963615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.92, Y:-68.49, Z:-43.83 [[ 3.35917240e-01 -4.78132124e-01 8.11510493e-01 1.57917585e+02] [ 1.95186675e-01 8.78209682e-01 4.36634762e-01 -6.84891091e+01] [-9.21445478e-01 1.17228904e-02 3.88330792e-01 -4.38271642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.94, Y:-68.48, Z:-43.86 [[ 3.38365875e-01 -4.84939107e-01 8.06438216e-01 1.57935456e+02] [ 1.95669262e-01 8.74514579e-01 4.43776735e-01 -6.84839048e+01] [-9.20446671e-01 7.63626712e-03 3.90793568e-01 -4.38555836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:-68.47, Z:-43.89 [[ 3.38786796e-01 -4.75283578e-01 8.11990781e-01 1.57940155e+02] [ 1.96030922e-01 8.79744872e-01 4.33152211e-01 -6.84731004e+01] [-9.20214858e-01 1.24290517e-02 3.91216224e-01 -4.38864590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:-68.47, Z:-43.92 [[ 3.40389311e-01 -4.74080049e-01 8.12024152e-01 1.57951779e+02] [ 1.98314677e-01 8.80364308e-01 4.30847971e-01 -6.84654999e+01] [-9.19133508e-01 1.43802635e-02 3.93683633e-01 -4.39172216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:-68.46, Z:-43.95 [[ 3.38283728e-01 -4.68450958e-01 8.16160413e-01 1.57956746e+02] [ 1.98275449e-01 8.83303684e-01 4.24807542e-01 -6.84560228e+01] [-9.19919000e-01 1.81190936e-02 3.91689587e-01 -4.39455191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:-68.45, Z:-43.98 [[ 3.37007279e-01 -4.71248975e-01 8.15076989e-01 1.57967464e+02] [ 1.98608555e-01 8.81821879e-01 4.27720489e-01 -6.84504402e+01] [-9.20315563e-01 1.77363448e-02 3.90774470e-01 -4.39756534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:-68.45, Z:-44.00 [[ 3.38302790e-01 -4.78456509e-01 8.10327459e-01 1.57983596e+02] [ 1.99456909e-01 8.77992894e-01 4.35138391e-01 -6.84466576e+01] [-9.19656547e-01 1.44168787e-02 3.92458902e-01 -4.40033180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:-68.44, Z:-44.03 [[ 3.37162677e-01 -4.82152591e-01 8.08610047e-01 1.57995957e+02] [ 1.99929908e-01 8.75980687e-01 4.38959985e-01 -6.84401227e+01] [-9.19972479e-01 1.36644086e-02 3.91744716e-01 -4.40308819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-68.43, Z:-44.06 [[ 3.36856256e-01 -4.83000157e-01 8.08231843e-01 1.58007729e+02] [ 2.01289203e-01 8.75496763e-01 4.39304080e-01 -6.84317012e+01] [-9.19788301e-01 1.47060156e-02 3.92139278e-01 -4.40597565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-68.42, Z:-44.09 [[ 3.34400935e-01 -4.73071574e-01 8.15094658e-01 1.58007924e+02] [ 2.01908760e-01 8.80765666e-01 4.28351135e-01 -6.84203890e+01] [-9.20548134e-01 2.13337317e-02 3.90046157e-01 -4.40909014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:-68.42, Z:-44.12 [[ 3.32693618e-01 -4.88163307e-01 8.06852863e-01 1.58027809e+02] [ 2.02603827e-01 8.72612523e-01 4.44408678e-01 -6.84194279e+01] [-9.21013923e-01 1.56195470e-02 3.89216371e-01 -4.41196721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-68.41, Z:-44.15 [[ 3.33290178e-01 -4.89609065e-01 8.05729868e-01 1.58040590e+02] [ 2.03803914e-01 8.71799885e-01 4.45453617e-01 -6.84123840e+01] [-9.20533336e-01 1.57455852e-02 3.90346583e-01 -4.41484053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:-68.40, Z:-44.18 [[ 3.32406534e-01 -4.84148392e-01 8.09386330e-01 1.58045014e+02] [ 2.05475033e-01 8.74747383e-01 4.38858778e-01 -6.84009762e+01] [-9.20481345e-01 2.04291577e-02 3.90252152e-01 -4.41782267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:-68.39, Z:-44.21 [[ 3.31048162e-01 -4.87802129e-01 8.07747607e-01 1.58056310e+02] [ 2.06209300e-01 8.72723555e-01 4.42528328e-01 -6.83948757e+01] [-9.20806624e-01 2.00668790e-02 3.89502864e-01 -4.42079747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.08, Y:-68.39, Z:-44.23 [[ 3.33488298e-01 -4.99375286e-01 7.99631089e-01 1.58077680e+02] [ 2.07064089e-01 8.66273328e-01 4.54637201e-01 -6.83919866e+01] [-9.19733667e-01 1.39586962e-02 3.92294707e-01 -4.42335936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-68.37, Z:-44.27 [[ 3.34423811e-01 -4.79449913e-01 8.11349799e-01 1.58074147e+02] [ 2.08307264e-01 8.77230946e-01 4.32520464e-01 -6.83739014e+01] [-9.19113050e-01 2.43649148e-02 3.93239815e-01 -4.42677353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-68.37, Z:-44.30 [[ 3.34503776e-01 -4.80667668e-01 8.10595964e-01 1.58085167e+02] [ 2.07839370e-01 8.76593573e-01 4.34035143e-01 -6.83672428e+01] [-9.19189872e-01 2.32873602e-02 3.93125525e-01 -4.42956344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-68.36, Z:-44.33 [[ 3.36124404e-01 -4.79753318e-01 8.10467235e-01 1.58094849e+02] [ 2.07039956e-01 8.77124004e-01 4.33345056e-01 -6.83567053e+01] [-9.18778995e-01 2.21412522e-02 3.94150889e-01 -4.43251435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:-68.35, Z:-44.35 [[ 3.38683840e-01 -4.83451526e-01 8.07197546e-01 1.58110020e+02] [ 2.06985749e-01 8.75165610e-01 4.37312307e-01 -6.83498879e+01] [-9.17850835e-01 1.89677776e-02 3.96472026e-01 -4.43547488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:-68.34, Z:-44.38 [[ 3.39330877e-01 -4.74753587e-01 8.12073634e-01 1.58113997e+02] [ 2.04755792e-01 8.79873867e-01 4.28832186e-01 -6.83392304e+01] [-9.18111988e-01 2.07607787e-02 3.95776917e-01 -4.43826110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:-68.33, Z:-44.41 [[ 3.39491417e-01 -4.84199356e-01 8.06409673e-01 1.58131762e+02] [ 2.04864096e-01 8.74808459e-01 4.39022623e-01 -6.83347070e+01] [-9.18028474e-01 1.61599760e-02 3.96185027e-01 -4.44129496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:-68.32, Z:-44.44 [[ 3.40194930e-01 -4.68101680e-01 8.15566200e-01 1.58131853e+02] [ 2.04412272e-01 8.83369120e-01 4.21751847e-01 -6.83196080e+01] [-9.17868745e-01 2.32339001e-02 3.96203424e-01 -4.44444067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:-68.31, Z:-44.47 [[ 3.40362168e-01 -4.68436244e-01 8.15304286e-01 1.58139971e+02] [ 2.02994411e-01 8.83232639e-01 4.22721392e-01 -6.83091771e+01] [-9.18121377e-01 2.16238437e-02 3.95708915e-01 -4.44725459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:-68.31, Z:-44.50 [[ 3.39571103e-01 -4.80161293e-01 8.08787116e-01 1.58152999e+02] [ 2.02086265e-01 8.77044200e-01 4.35837829e-01 -6.83072837e+01] [-9.18614504e-01 1.54468345e-02 3.94852869e-01 -4.44990108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-68.30, Z:-44.53 [[ 3.42590442e-01 -4.83983519e-01 8.05227758e-01 1.58168313e+02] [ 1.98311810e-01 8.75036711e-01 4.41568999e-01 -6.82994824e+01] [-9.18315967e-01 8.40885574e-03 3.95758861e-01 -4.45270472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:-68.29, Z:-44.56 [[ 3.44548589e-01 -4.92026102e-01 7.99497708e-01 1.58187139e+02] [ 1.97771185e-01 8.70575666e-01 4.50538088e-01 -6.82948110e+01] [-9.17699748e-01 2.88534662e-03 3.97264203e-01 -4.45553825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:-68.27, Z:-44.59 [[ 3.43523540e-01 -4.59421129e-01 8.19099386e-01 1.58175081e+02] [ 1.97685689e-01 8.88008736e-01 4.15163648e-01 -6.82721733e+01] [-9.18102361e-01 1.93057401e-02 3.95872887e-01 -4.45916352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-68.27, Z:-44.62 [[ 3.46212557e-01 -4.76764457e-01 8.07980518e-01 1.58198240e+02] [ 1.95348741e-01 8.79001212e-01 4.34966365e-01 -6.82712580e+01] [-9.17592358e-01 7.24715952e-03 3.97456593e-01 -4.46172327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-68.26, Z:-44.65 [[ 3.45883371e-01 -4.65978387e-01 8.14388627e-01 1.58201412e+02] [ 1.94503868e-01 8.84716315e-01 4.23609829e-01 -6.82586443e+01] [-9.17895930e-01 1.18821419e-02 3.96643260e-01 -4.46488825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-68.25, Z:-44.68 [[ 3.47074646e-01 -4.73705784e-01 8.09408439e-01 1.58216537e+02] [ 1.93504153e-01 8.80658891e-01 4.32430412e-01 -6.82525158e+01] [-9.17657525e-01 6.53826194e-03 3.97318409e-01 -4.46787737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:-68.23, Z:-44.71 [[ 3.48454503e-01 -4.47072666e-01 8.23835840e-01 1.58210219e+02] [ 1.93133805e-01 8.94307034e-01 4.03626390e-01 -6.82330838e+01] [-9.17212512e-01 1.84651174e-02 3.97970158e-01 -4.47102443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:-68.24, Z:-44.73 [[ 3.49287747e-01 -4.70450183e-01 8.10354673e-01 1.58235418e+02] [ 1.91066397e-01 8.82414236e-01 4.29928770e-01 -6.82377820e+01] [-9.17328568e-01 4.66269644e-03 3.98103702e-01 -4.47334089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:-68.24, Z:-44.76 [[ 3.57174457e-01 -4.81761385e-01 8.00207707e-01 1.58266959e+02] [ 1.90507034e-01 8.76284450e-01 4.42529810e-01 -6.82353738e+01] [-9.14403345e-01 -5.61514785e-03 4.04765355e-01 -4.47617041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:-68.22, Z:-44.79 [[ 3.64466588e-01 -4.63751001e-01 8.07526542e-01 1.58277757e+02] [ 1.90919845e-01 8.85965569e-01 4.22628233e-01 -6.82183298e+01] [-9.11434978e-01 1.38972122e-04 4.11444117e-01 -4.47949638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-68.17, Z:-44.83 [[ 3.54204710e-01 -3.76667050e-01 8.55956165e-01 1.58224225e+02] [ 1.90173998e-01 9.25183528e-01 3.28434604e-01 -6.81702828e+01] [-9.15627039e-01 4.64475222e-02 3.99336642e-01 -4.48348022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:-68.20, Z:-44.86 [[ 3.53258072e-01 -4.50712578e-01 8.19796869e-01 1.58274309e+02] [ 1.89522251e-01 8.92603050e-01 4.09073478e-01 -6.82011142e+01] [-9.16127748e-01 1.08612401e-02 4.00739295e-01 -4.48577247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:-68.19, Z:-44.89 [[ 3.51297384e-01 -4.46334850e-01 8.23028159e-01 1.58281091e+02] [ 1.88802269e-01 8.94768129e-01 4.04652565e-01 -6.81926450e+01] [-9.17029907e-01 1.32361959e-02 3.98598736e-01 -4.48878113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:-68.19, Z:-44.92 [[ 3.54028152e-01 -4.48018994e-01 8.20940344e-01 1.58294861e+02] [ 1.88773647e-01 8.93955447e-01 4.06458078e-01 -6.81867910e+01] [-9.15985031e-01 1.10743006e-02 4.01059574e-01 -4.49173023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.31, Y:-68.18, Z:-44.95 [[ 3.58995021e-01 -4.44127055e-01 8.20898127e-01 1.58307607e+02] [ 1.89641885e-01 8.95890717e-01 4.01765825e-01 -6.81779346e+01] [-9.13870084e-01 1.14447375e-02 4.05845399e-01 -4.49482321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:-68.17, Z:-44.98 [[ 3.57281888e-01 -4.45533087e-01 8.20883622e-01 1.58321158e+02] [ 1.89082366e-01 8.95197571e-01 4.03570523e-01 -6.81720787e+01] [-9.14657046e-01 1.10261790e-02 4.04080329e-01 -4.49767337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-68.17, Z:-45.01 [[ 3.62852863e-01 -4.54597325e-01 8.13436581e-01 1.58349357e+02] [ 1.94074271e-01 8.90654881e-01 4.11180084e-01 -6.81683122e+01] [-9.11412627e-01 8.66924059e-03 4.11402318e-01 -4.50081385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:-68.14, Z:-45.04 [[ 3.61910408e-01 -4.07134320e-01 8.38607478e-01 1.58335980e+02] [ 1.93504909e-01 9.12803528e-01 3.59646451e-01 -6.81399549e+01] [-9.11908278e-01 3.21148700e-02 4.09135586e-01 -4.50401034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:-68.13, Z:-45.07 [[ 3.62190588e-01 -4.00913598e-01 8.41478618e-01 1.58341348e+02] [ 1.95052684e-01 9.15385280e-01 3.52170754e-01 -6.81313812e+01] [-9.11467184e-01 3.65797307e-02 4.09743206e-01 -4.50687911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:-68.14, Z:-45.09 [[ 3.58117462e-01 -4.42505133e-01 8.22156367e-01 1.58376695e+02] [ 1.97046097e-01 8.96544413e-01 3.96712681e-01 -6.81448838e+01] [-9.12647095e-01 1.99329650e-02 4.08262119e-01 -4.50939781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:-68.12, Z:-45.13 [[ 3.64561747e-01 -3.91727853e-01 8.44774539e-01 1.58360538e+02] [ 2.01317346e-01 9.18910473e-01 3.39226870e-01 -6.81156295e+01] [-9.09156785e-01 4.63986278e-02 4.13861219e-01 -4.51275999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:-68.14, Z:-45.15 [[ 3.55840727e-01 -4.47475011e-01 8.20453223e-01 1.58400930e+02] [ 2.00764214e-01 8.94020982e-01 4.00524924e-01 -6.81363758e+01] [-9.12727291e-01 2.21945666e-02 4.07966045e-01 -4.51509009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:-68.11, Z:-45.19 [[ 3.60867121e-01 -4.10869987e-01 8.37234002e-01 1.58395060e+02] [ 2.04107872e-01 9.10756038e-01 3.58975508e-01 -6.81139560e+01] [-9.10008185e-01 4.13435920e-02 4.12523708e-01 -4.51854033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.42, Y:-68.12, Z:-45.21 [[ 3.55337866e-01 -4.41127590e-01 8.24100389e-01 1.58423794e+02] [ 2.04800992e-01 8.96957840e-01 3.91820350e-01 -6.81224247e+01] [-9.12026071e-01 2.95479697e-02 4.09066452e-01 -4.52086525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:-68.11, Z:-45.24 [[ 3.57199854e-01 -4.17223609e-01 8.35663045e-01 1.58421835e+02] [ 2.06533584e-01 9.07822373e-01 3.64969065e-01 -6.81063604e+01] [-9.10907319e-01 4.22255868e-02 4.10444706e-01 -4.52405701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:-68.09, Z:-45.27 [[ 3.50594131e-01 -3.97298624e-01 8.48078745e-01 1.58411924e+02] [ 2.07662265e-01 9.15993400e-01 3.43267353e-01 -6.80919346e+01] [-9.13214180e-01 5.57664342e-02 4.03645843e-01 -4.52703983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:-68.11, Z:-45.29 [[ 3.49097636e-01 -4.47200644e-01 8.23494034e-01 1.58449762e+02] [ 2.07274308e-01 8.93864401e-01 3.97547221e-01 -6.81112574e+01] [-9.13875375e-01 3.19063608e-02 4.04739154e-01 -4.52945947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:-68.12, Z:-45.32 [[ 3.58318883e-01 -4.79129494e-01 8.01275549e-01 1.58495177e+02] [ 2.07324568e-01 8.77671550e-01 4.32098569e-01 -6.81202593e+01] [-9.10287922e-01 1.12950301e-02 4.13821605e-01 -4.53182115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:-68.09, Z:-45.36 [[ 3.59159105e-01 -4.14989261e-01 8.35935794e-01 1.58470426e+02] [ 2.06017941e-01 9.08858240e-01 3.62675210e-01 -6.80882717e+01] [-9.10253451e-01 4.19596668e-02 4.11919945e-01 -4.53578044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:-68.09, Z:-45.39 [[ 3.57846802e-01 -4.20821248e-01 8.33579717e-01 1.58484630e+02] [ 2.04847440e-01 9.06326491e-01 3.69607655e-01 -6.80869482e+01] [-9.11034134e-01 3.84937538e-02 4.10530191e-01 -4.53876377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:-68.08, Z:-45.42 [[ 3.56153063e-01 -4.11510883e-01 8.38936105e-01 1.58487454e+02] [ 2.04002747e-01 9.10392472e-01 3.59956146e-01 -6.80785280e+01] [-9.11886986e-01 4.29457862e-02 4.08188418e-01 -4.54178803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:-68.08, Z:-45.45 [[ 3.56660499e-01 -4.19628556e-01 8.34688663e-01 1.58502536e+02] [ 2.02107256e-01 9.06946521e-01 3.69595273e-01 -6.80799601e+01] [-9.12110709e-01 3.68766009e-02 4.08281974e-01 -4.54461512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-68.08, Z:-45.48 [[ 3.56422197e-01 -4.22536978e-01 8.33322098e-01 1.58515007e+02] [ 2.00772840e-01 9.05698933e-01 3.73362706e-01 -6.80773919e+01] [-9.12498485e-01 3.42336889e-02 4.07645152e-01 -4.54752516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-68.07, Z:-45.50 [[ 3.56094870e-01 -4.18575378e-01 8.35458614e-01 1.58523031e+02] [ 1.97690334e-01 9.07573239e-01 3.70444799e-01 -6.80733468e+01] [-9.13298952e-01 3.32485998e-02 4.05930480e-01 -4.55047159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:-68.07, Z:-45.53 [[ 3.55459752e-01 -4.27763974e-01 8.31063383e-01 1.58540133e+02] [ 1.95700579e-01 9.03484430e-01 3.81336030e-01 -6.80736717e+01] [-9.13974643e-01 2.70899743e-02 4.04866009e-01 -4.55343045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-68.07, Z:-45.56 [[ 3.55499570e-01 -4.26718716e-01 8.31583546e-01 1.58550698e+02] [ 1.93212961e-01 9.04035432e-01 3.81298687e-01 -6.80697044e+01] [-9.14488276e-01 2.51212005e-02 4.03831794e-01 -4.55625286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:-68.07, Z:-45.59 [[ 3.55485896e-01 -4.24292088e-01 8.32830116e-01 1.58560922e+02] [ 1.90365255e-01 9.05220739e-01 3.79916417e-01 -6.80652528e+01] [-9.15090622e-01 2.34869894e-02 4.02563677e-01 -4.55937241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-68.07, Z:-45.62 [[ 3.57356970e-01 -4.33332871e-01 8.27356404e-01 1.58581143e+02] [ 1.88006825e-01 9.01093462e-01 3.90748009e-01 -6.80663900e+01] [-9.14849403e-01 1.59121258e-02 4.03481566e-01 -4.56234672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-68.05, Z:-45.65 [[ 3.57168491e-01 -4.18132878e-01 8.35221866e-01 1.58582787e+02] [ 1.88325085e-01 9.08077004e-01 3.74071941e-01 -6.80540097e+01] [-9.14857547e-01 2.36865182e-02 4.03081403e-01 -4.56536333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39361786499995 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:158.57, Y:-68.04, Z:-45.69 [[ 3.53177954e-01 -3.92366631e-01 8.49301925e-01 1.58572630e+02] [ 1.85451946e-01 9.19151521e-01 3.47516987e-01 -6.80417927e+01] [-9.16991226e-01 3.47693563e-02 3.97389209e-01 -4.56866904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:-68.06, Z:-45.71 [[ 3.55669264e-01 -4.33404515e-01 8.28045833e-01 1.58608033e+02] [ 1.87555460e-01 9.01053558e-01 3.91056817e-01 -6.80560224e+01] [-9.15599434e-01 1.62176270e-02 4.01764439e-01 -4.57060379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-68.05, Z:-45.74 [[ 3.57738418e-01 -4.40227599e-01 8.23542886e-01 1.58626546e+02] [ 1.88782337e-01 8.97790328e-01 3.97911743e-01 -6.80524841e+01] [-9.14540569e-01 1.31220333e-02 4.04281287e-01 -4.57356314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-68.06, Z:-45.75 [[ 3.65621672e-01 -4.62617768e-01 8.07654378e-01 1.58663827e+02] [ 1.88881086e-01 8.86555901e-01 4.22306252e-01 -6.80560365e+01] [-9.11397130e-01 -1.85368199e-03 4.11523797e-01 -4.57549042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-68.04, Z:-45.79 [[ 3.66276459e-01 -4.35820428e-01 8.22132660e-01 1.58660988e+02] [ 1.88092300e-01 8.99971384e-01 3.93284622e-01 -6.80393174e+01] [-9.11297340e-01 1.05859236e-02 4.11612798e-01 -4.57883942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:-68.04, Z:-45.82 [[ 3.66515178e-01 -4.35049961e-01 8.22434286e-01 1.58673046e+02] [ 1.87461421e-01 9.00348133e-01 3.92723127e-01 -6.80357686e+01] [-9.11331356e-01 1.02357128e-02 4.11546341e-01 -4.58178810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.68, Y:-68.03, Z:-45.85 [[ 3.69312701e-01 -4.25468202e-01 8.26186988e-01 1.58678475e+02] [ 1.88235510e-01 9.04857206e-01 3.81838747e-01 -6.80272855e+01] [-9.10041495e-01 1.44998300e-02 4.14263482e-01 -4.58480003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:-68.03, Z:-45.88 [[ 3.66114000e-01 -4.49522150e-01 8.14794683e-01 1.58704966e+02] [ 1.87626045e-01 8.93263027e-01 4.08506587e-01 -6.80329712e+01] [-9.11458724e-01 3.31672284e-03 4.11378163e-01 -4.58750328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:-68.02, Z:-45.91 [[ 3.66015931e-01 -4.33932460e-01 8.23246596e-01 1.58708159e+02] [ 1.87825600e-01 9.00873411e-01 3.91342102e-01 -6.80209864e+01] [-9.11457010e-01 1.13893420e-02 4.11237645e-01 -4.59068553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:-68.02, Z:-45.94 [[ 3.65251350e-01 -4.33946852e-01 8.23578521e-01 1.58720700e+02] [ 1.88482835e-01 9.00853262e-01 3.91072398e-01 -6.80170125e+01] [-9.11628034e-01 1.23906931e-02 4.10829403e-01 -4.59365468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:-68.01, Z:-45.97 [[ 3.64574857e-01 -4.33470008e-01 8.24129192e-01 1.58732769e+02] [ 1.88179214e-01 9.01079267e-01 3.90697757e-01 -6.80118979e+01] [-9.11961489e-01 1.26454046e-02 4.10080890e-01 -4.59671928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:-68.01, Z:-46.00 [[ 3.64877220e-01 -4.33048102e-01 8.24217178e-01 1.58744780e+02] [ 1.88540653e-01 9.01276033e-01 3.90069141e-01 -6.80062254e+01] [-9.11765889e-01 1.30711009e-02 4.10502265e-01 -4.59977910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:-68.00, Z:-46.03 [[ 3.65214655e-01 -4.32462985e-01 8.24374928e-01 1.58756263e+02] [ 1.88443711e-01 9.01556388e-01 3.89467645e-01 -6.80010942e+01] [-9.11650823e-01 1.31089793e-02 4.10756535e-01 -4.60272634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:-68.00, Z:-46.06 [[ 3.66105774e-01 -4.31801607e-01 8.24326352e-01 1.58768061e+02] [ 1.88252345e-01 9.01877307e-01 3.88816638e-01 -6.79964769e+01] [-9.11332879e-01 1.28333528e-02 4.11470154e-01 -4.60576192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-67.99, Z:-46.09 [[ 3.66596840e-01 -4.31077610e-01 8.24487023e-01 1.58780234e+02] [ 1.87800288e-01 9.02228013e-01 3.88221154e-01 -6.79910087e+01] [-9.11228736e-01 1.25182524e-02 4.11710438e-01 -4.60882669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:-67.99, Z:-46.12 [[ 3.66568241e-01 -4.30293060e-01 8.24909454e-01 1.58792088e+02] [ 1.86944092e-01 9.02608482e-01 3.87749706e-01 -6.79865004e+01] [-9.11416277e-01 1.20752213e-02 4.11308349e-01 -4.61179750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:-67.98, Z:-46.15 [[ 3.66597090e-01 -4.29536386e-01 8.25290898e-01 1.58804377e+02] [ 1.86091608e-01 9.02975116e-01 3.87305891e-01 -6.79814749e+01] [-9.11579117e-01 1.15944981e-02 4.10961167e-01 -4.61477536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90361786499997 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:158.80, Y:-67.96, Z:-46.18 [[ 3.71372230e-01 -4.05137070e-01 8.35431997e-01 1.58803746e+02] [ 1.88596291e-01 9.13938298e-01 3.59371990e-01 -6.79639579e+01] [-9.09128212e-01 2.40985987e-02 4.15818652e-01 -4.61773355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:-67.98, Z:-46.20 [[ 3.64810393e-01 -4.39883734e-01 8.20619082e-01 1.58831855e+02] [ 1.84730882e-01 8.98035087e-01 3.99258669e-01 -6.79768165e+01] [-9.12572122e-01 5.93997463e-03 4.08872643e-01 -4.61985616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:-67.97, Z:-46.23 [[ 3.64884024e-01 -4.29354005e-01 8.26144532e-01 1.58838194e+02] [ 1.84432803e-01 9.03071237e-01 3.87874829e-01 -6.79665944e+01] [-9.12602975e-01 1.08388238e-02 4.08703229e-01 -4.62299058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:-67.96, Z:-46.26 [[ 3.64425320e-01 -4.28791010e-01 8.26639254e-01 1.58850051e+02] [ 1.84044249e-01 9.03337404e-01 3.87439348e-01 -6.79614229e+01] [-9.12864667e-01 1.09454922e-02 4.08115542e-01 -4.62601500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:-67.96, Z:-46.29 [[ 3.63533053e-01 -4.28479182e-01 8.27193635e-01 1.58862898e+02] [ 1.84223464e-01 9.03476028e-01 3.87030724e-01 -6.79571129e+01] [-9.13184228e-01 1.16900163e-02 4.07379318e-01 -4.62896700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:-67.95, Z:-46.32 [[ 3.63264220e-01 -4.28087775e-01 8.27514328e-01 1.58875217e+02] [ 1.84444143e-01 9.03654467e-01 3.86508683e-01 -6.79520867e+01] [-9.13246662e-01 1.22253957e-02 4.07223618e-01 -4.63201504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:-67.95, Z:-46.35 [[ 3.63064134e-01 -4.27873279e-01 8.27713049e-01 1.58886733e+02] [ 1.85265859e-01 9.03741806e-01 3.85911013e-01 -6.79472636e+01] [-9.13159896e-01 1.32365213e-02 4.07386547e-01 -4.63497033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:-67.94, Z:-46.38 [[ 3.63423350e-01 -4.29216718e-01 8.26859407e-01 1.58898858e+02] [ 1.84332970e-01 9.03128498e-01 3.87788953e-01 -6.79446383e+01] [-9.13205796e-01 1.14858901e-02 4.07336776e-01 -4.63828570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:-67.93, Z:-46.41 [[ 3.64457203e-01 -4.13987599e-01 8.34137408e-01 1.58902605e+02] [ 1.84328899e-01 9.10094748e-01 3.71147418e-01 -6.79327603e+01] [-9.12794503e-01 1.84882799e-02 4.08000465e-01 -4.64137734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17361786499995 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:158.90, Y:-67.92, Z:-46.44 [[ 3.68816653e-01 -3.90573892e-01 8.43460913e-01 1.58903468e+02] [ 1.86096845e-01 9.20087808e-01 3.44683027e-01 -6.79161650e+01] [-9.10682294e-01 2.98405741e-02 4.12028275e-01 -4.64404132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:-67.94, Z:-46.46 [[ 3.64291065e-01 -4.38455507e-01 8.21613527e-01 1.58940526e+02] [ 1.83755964e-01 8.98733273e-01 3.98135968e-01 -6.79352162e+01] [-9.12976323e-01 5.93901015e-03 4.07969316e-01 -4.64605096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:-67.92, Z:-46.49 [[ 3.64422335e-01 -4.23410720e-01 8.29409262e-01 1.58944274e+02] [ 1.83397537e-01 9.05845177e-01 3.81850571e-01 -6.79238096e+01] [-9.12996005e-01 1.29567389e-02 4.07762698e-01 -4.64922788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:-67.92, Z:-46.52 [[ 3.64543053e-01 -4.22891369e-01 8.29621150e-01 1.58957280e+02] [ 1.83364535e-01 9.06085341e-01 3.81296213e-01 -6.79198173e+01] [-9.12954440e-01 1.31242106e-02 4.07850396e-01 -4.65225361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.97, Y:-67.91, Z:-46.55 [[ 3.64882810e-01 -4.22248451e-01 8.29799241e-01 1.58969179e+02] [ 1.83112988e-01 9.06386405e-01 3.80701089e-01 -6.79148960e+01] [-9.12869196e-01 1.30357353e-02 4.08043993e-01 -4.65528821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:-67.91, Z:-46.58 [[ 3.65276876e-01 -4.21638099e-01 8.29936213e-01 1.58981322e+02] [ 1.82971048e-01 9.06670782e-01 3.80091684e-01 -6.79095797e+01] [-9.12740051e-01 1.30155958e-02 4.08333435e-01 -4.65834348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:-67.90, Z:-46.61 [[ 3.65963943e-01 -4.20903618e-01 8.30006347e-01 1.58993063e+02] [ 1.82578470e-01 9.07016812e-01 3.79454352e-01 -6.79047066e+01] [-9.12543421e-01 1.26746777e-02 4.08783388e-01 -4.66131678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:-67.90, Z:-46.64 [[ 3.66162154e-01 -4.20202415e-01 8.30274176e-01 1.59005511e+02] [ 1.81977996e-01 9.07346586e-01 3.78954063e-01 -6.78997444e+01] [-9.12583851e-01 1.23329951e-02 4.08703574e-01 -4.66436667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-67.90, Z:-46.67 [[ 3.66349508e-01 -4.19513299e-01 8.30539963e-01 1.59018704e+02] [ 1.81533689e-01 9.07667936e-01 3.78397195e-01 -6.78954268e+01] [-9.12597150e-01 1.21453574e-02 4.08679499e-01 -4.66735080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:-67.89, Z:-46.70 [[ 3.66408352e-01 -4.18949507e-01 8.30798550e-01 1.59030813e+02] [ 1.81424647e-01 9.07926387e-01 3.77829026e-01 -6.78896357e+01] [-9.12595210e-01 1.22876231e-02 4.08679578e-01 -4.67041710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:-67.89, Z:-46.74 [[ 3.68733856e-01 -4.24139846e-01 8.27128004e-01 1.59051096e+02] [ 1.79885198e-01 9.05568624e-01 3.84170253e-01 -6.78906614e+01] [-9.11963080e-01 7.13150597e-03 4.10210291e-01 -4.67381503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:-67.86, Z:-46.77 [[ 3.66479876e-01 -3.86218787e-01 8.46479503e-01 1.59037861e+02] [ 1.81236528e-01 9.21982047e-01 3.42202317e-01 -6.78648968e+01] [-9.12603869e-01 2.80027429e-02 4.07884818e-01 -4.67683356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:-67.88, Z:-46.80 [[ 3.67837095e-01 -4.22923711e-01 8.28149387e-01 1.59075516e+02] [ 1.79046248e-01 9.06135780e-01 3.83223680e-01 -6.78807336e+01] [-9.12490171e-01 7.31315579e-03 4.09033257e-01 -4.67976491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-67.86, Z:-46.83 [[ 3.71990876e-01 -3.86742337e-01 8.43832420e-01 1.59070373e+02] [ 1.79199307e-01 9.21890179e-01 3.43520168e-01 -6.78595148e+01] [-9.10774614e-01 2.34278170e-02 4.12238694e-01 -4.68333828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-67.85, Z:-46.86 [[ 3.66048725e-01 -3.81664396e-01 8.48728826e-01 1.59072456e+02] [ 1.79867333e-01 9.23846484e-01 3.37868933e-01 -6.78487159e+01] [-9.13047684e-01 2.89820975e-02 4.06821785e-01 -4.68568466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:-67.86, Z:-46.88 [[ 3.66263419e-01 -4.17759601e-01 8.31461378e-01 1.59105018e+02] [ 1.79566496e-01 9.08489931e-01 3.77361788e-01 -6.78608203e+01] [-9.13020800e-01 1.10887875e-02 4.07762256e-01 -4.68804849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:-67.86, Z:-46.91 [[ 3.70596865e-01 -4.28271693e-01 8.24160980e-01 1.59132393e+02] [ 1.77084427e-01 9.03648884e-01 3.89948459e-01 -6.78643945e+01] [-9.11756036e-01 1.43239816e-03 4.10729691e-01 -4.69119263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:-67.83, Z:-46.95 [[ 3.67253830e-01 -3.76317518e-01 8.50593763e-01 1.59106802e+02] [ 1.78424507e-01 9.26017801e-01 3.32649556e-01 -6.78327806e+01] [-9.12846822e-01 2.95999494e-02 4.07227852e-01 -4.69452040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:-67.85, Z:-46.97 [[ 3.68683211e-01 -4.18860048e-01 8.29836701e-01 1.59146871e+02] [ 1.76047013e-01 9.08031317e-01 3.80113898e-01 -6.78521760e+01] [-9.12732238e-01 5.94865966e-03 4.08514963e-01 -4.69743535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.14, Y:-67.83, Z:-47.00 [[ 3.68562648e-01 -3.85501444e-01 8.45902010e-01 1.59137459e+02] [ 1.77789682e-01 9.22394707e-01 3.42897702e-01 -6.78288587e+01] [-9.12443096e-01 2.40133648e-02 4.08498415e-01 -4.70022848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:-67.84, Z:-47.03 [[ 3.69188995e-01 -4.15661052e-01 8.31219211e-01 1.59168325e+02] [ 1.77867943e-01 9.09473980e-01 3.75792595e-01 -6.78395121e+01] [-9.12174589e-01 9.10876069e-03 4.09700560e-01 -4.70277879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-67.84, Z:-47.06 [[ 3.69371073e-01 -4.14993050e-01 8.31472055e-01 1.59180726e+02] [ 1.77461649e-01 9.09780552e-01 3.75242203e-01 -6.78352789e+01] [-9.12180012e-01 8.95078705e-03 4.09691970e-01 -4.70567446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:-67.83, Z:-47.09 [[ 3.72520474e-01 -4.09981604e-01 8.32552449e-01 1.59192720e+02] [ 1.76667029e-01 9.12047165e-01 3.70079356e-01 -6.78332018e+01] [-9.11052829e-01 9.22243114e-03 4.12186474e-01 -4.70916588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.22, Y:-67.83, Z:-47.12 [[ 3.73410166e-01 -4.21836153e-01 8.26207667e-01 1.59218422e+02] [ 1.75497177e-01 9.06670378e-01 3.83600790e-01 -6.78348085e+01] [-9.10914699e-01 1.75667884e-03 4.12590990e-01 -4.71198883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-67.81, Z:-47.16 [[ 3.71400582e-01 -3.70825218e-01 8.51205184e-01 1.59199362e+02] [ 1.75173600e-01 9.28301428e-01 3.27979678e-01 -6.78074761e+01] [-9.11798123e-01 2.72968333e-02 4.09730479e-01 -4.71576635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:-67.80, Z:-47.18 [[ 3.72582891e-01 -3.72957172e-01 8.49755811e-01 1.59211924e+02] [ 1.76802874e-01 9.27442097e-01 3.29532852e-01 -6.78031565e+01] [-9.11000951e-01 2.74609668e-02 4.11488957e-01 -4.71811751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:-67.82, Z:-47.20 [[ 3.71146114e-01 -4.14676447e-01 8.30839338e-01 1.59247055e+02] [ 1.75893441e-01 9.09943945e-01 3.75584232e-01 -6.78210424e+01] [-9.11763160e-01 6.74256207e-03 4.10661026e-01 -4.72038449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:-67.81, Z:-47.24 [[ 3.71312303e-01 -3.96704856e-01 8.39495343e-01 1.59249099e+02] [ 1.76069021e-01 9.17812249e-01 3.55837569e-01 -6.78087620e+01] [-9.11661600e-01 1.56822560e-02 4.10642416e-01 -4.72359770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:-67.80, Z:-47.27 [[ 3.70193621e-01 -3.96370038e-01 8.40147294e-01 1.59259647e+02] [ 1.76073642e-01 9.17945648e-01 3.55491013e-01 -6.78048402e+01] [-9.12115539e-01 1.63272889e-02 4.09607939e-01 -4.72658302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.28, Y:-67.80, Z:-47.29 [[ 3.68948570e-01 -4.03874009e-01 8.37115725e-01 1.59275388e+02] [ 1.74717553e-01 9.14737945e-01 3.64318911e-01 -6.78041231e+01] [-9.12880457e-01 1.18438703e-02 4.08055135e-01 -4.72924388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:-67.80, Z:-47.32 [[ 3.70250207e-01 -4.07213002e-01 8.34920568e-01 1.59292279e+02] [ 1.74398776e-01 9.13285650e-01 3.68095625e-01 -6.78025795e+01] [-9.12414298e-01 9.32164364e-03 4.09161650e-01 -4.73223679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:-67.80, Z:-47.35 [[ 3.70876564e-01 -4.02224208e-01 8.37058099e-01 1.59301413e+02] [ 1.73292609e-01 9.15482350e-01 3.63127716e-01 -6.77959645e+01] [-9.12370674e-01 1.03804221e-02 4.09233430e-01 -4.73513290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.31, Y:-67.79, Z:-47.38 [[ 3.73939897e-01 -4.02027380e-01 8.35788813e-01 1.59314942e+02] [ 1.73654932e-01 9.15578297e-01 3.62712484e-01 -6.77918120e+01] [-9.11050448e-01 9.50618040e-03 4.12185291e-01 -4.73817429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:-67.79, Z:-47.41 [[ 3.74675365e-01 -4.08064174e-01 8.32527477e-01 1.59333118e+02] [ 1.72692927e-01 9.12938252e-01 3.69757896e-01 -6.77918874e+01] [-9.10931130e-01 5.23243208e-03 4.12525270e-01 -4.74084956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:-67.78, Z:-47.44 [[ 3.77427475e-01 -3.94349674e-01 8.37876384e-01 1.59338424e+02] [ 1.72850592e-01 9.18894814e-01 3.54619505e-01 -6.77820491e+01] [-9.09764351e-01 1.09842846e-02 4.14979724e-01 -4.74391429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-67.79, Z:-47.47 [[ 3.78967568e-01 -4.08285342e-01 8.30473758e-01 1.59365122e+02] [ 1.72356563e-01 9.12849849e-01 3.70132906e-01 -6.77856180e+01] [-9.09217684e-01 2.86923558e-03 4.16311146e-01 -4.74671640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-67.77, Z:-47.50 [[ 3.79375447e-01 -3.90258799e-01 8.38911402e-01 1.59368684e+02] [ 1.72172856e-01 9.20633393e-01 3.50414987e-01 -6.77735472e+01] [-9.09082382e-01 1.14989301e-02 4.16457677e-01 -4.74986183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:-67.77, Z:-47.53 [[ 3.78386955e-01 -3.90036515e-01 8.39461035e-01 1.59381404e+02] [ 1.72974083e-01 9.20709890e-01 3.49818905e-01 -6.77686554e+01] [-9.09342223e-01 1.28380925e-02 4.15850819e-01 -4.75289984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.40, Y:-67.77, Z:-47.56 [[ 3.77989451e-01 -3.94418131e-01 8.37590779e-01 1.59401079e+02] [ 1.72859014e-01 9.18868571e-01 3.54683395e-01 -6.77677356e+01] [-9.09529404e-01 1.07185349e-02 4.15501356e-01 -4.75569031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-67.76, Z:-47.59 [[ 3.84862833e-01 -3.95419624e-01 8.33980768e-01 1.59424272e+02] [ 1.74245328e-01 9.18459697e-01 3.55063868e-01 -6.77634920e+01] [-9.06376944e-01 8.66636645e-03 4.22381023e-01 -4.75856212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.40, Y:-67.74, Z:-47.62 [[ 3.74727032e-01 -3.51235633e-01 8.58028660e-01 1.59399997e+02] [ 1.73834696e-01 9.35666754e-01 3.07098069e-01 -6.77398436e+01] [-9.10692676e-01 3.40772035e-02 4.11676565e-01 -4.76216543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-67.75, Z:-47.65 [[ 3.74221168e-01 -3.75346509e-01 8.47982025e-01 1.59424523e+02] [ 1.75046407e-01 9.26577330e-01 3.32886178e-01 -6.77466903e+01] [-9.10668586e-01 2.38631520e-02 4.12447908e-01 -4.76457456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:159.43, Y:-67.74, Z:-47.67 [[ 3.72335556e-01 -3.75598059e-01 8.48700378e-01 1.59430753e+02] [ 1.78689233e-01 9.26353588e-01 3.31570790e-01 -6.77398185e+01] [-9.10733985e-01 2.81980251e-02 4.12029707e-01 -4.76709111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:159.49, Y:-67.76, Z:-47.70 [[ 3.75761921e-01 -4.30131828e-01 8.20846873e-01 1.59487374e+02] [ 1.77322138e-01 9.02764486e-01 3.91884092e-01 -6.77617036e+01] [-9.09593227e-01 -1.70079653e-03 4.15496413e-01 -4.76960145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:-67.73, Z:-47.74 [[ 3.74923429e-01 -3.71816901e-01 8.49225891e-01 1.59461056e+02] [ 1.78143844e-01 9.27869751e-01 3.27601122e-01 -6.77324130e+01] [-9.09778651e-01 2.84590285e-02 4.14117001e-01 -4.77356685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-67.73, Z:-47.76 [[ 3.74705268e-01 -3.77116703e-01 8.46982263e-01 1.59475074e+02] [ 1.79150186e-01 9.25772632e-01 3.32941805e-01 -6.77294638e+01] [-9.09670914e-01 2.69819821e-02 4.14452410e-01 -4.77640891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-67.72, Z:-47.80 [[ 3.75983287e-01 -3.73557650e-01 8.47992482e-01 1.59484545e+02] [ 1.80762384e-01 9.27126217e-01 3.28271136e-01 -6.77224204e+01] [-9.08824256e-01 2.98606820e-02 4.16109134e-01 -4.77956245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:-67.72, Z:-47.82 [[ 3.76338665e-01 -3.81877361e-01 8.44120187e-01 1.59502024e+02] [ 1.81081944e-01 9.23848667e-01 3.37213537e-01 -6.77215813e+01] [-9.08613526e-01 2.59484321e-02 4.16831069e-01 -4.78209764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-67.72, Z:-47.85 [[ 3.75833079e-01 -3.80296837e-01 8.45058467e-01 1.59510778e+02] [ 1.81952938e-01 9.24446012e-01 3.35101029e-01 -6.77153755e+01] [-9.08648791e-01 2.78188194e-02 4.16633518e-01 -4.78501262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:-67.71, Z:-47.88 [[ 3.77695368e-01 -3.90882833e-01 8.39378830e-01 1.59531364e+02] [ 1.82648184e-01 9.20165189e-01 3.46317291e-01 -6.77147488e+01] [-9.07736663e-01 2.25085823e-02 4.18936169e-01 -4.78780402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.54, Y:-67.71, Z:-47.91 [[ 3.78718520e-01 -3.88526298e-01 8.40011665e-01 1.59544409e+02] [ 1.84039328e-01 9.21107283e-01 3.43061070e-01 -6.77083680e+01] [-9.07029111e-01 2.46716020e-02 4.20344506e-01 -4.79073525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-67.70, Z:-47.93 [[ 3.74027179e-01 -3.76264601e-01 8.47660675e-01 1.59540057e+02] [ 1.85023993e-01 9.25900963e-01 3.29353198e-01 -6.76957504e+01] [-9.08773785e-01 3.36505154e-02 4.15930104e-01 -4.79308546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:-67.72, Z:-47.95 [[ 3.79578352e-01 -4.34812207e-01 8.16614119e-01 1.59597881e+02] [ 1.84288070e-01 9.00520593e-01 3.93828097e-01 -6.77184533e+01] [-9.06619094e-01 1.00362012e-03 4.21948825e-01 -4.79488805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.58, Y:-67.70, Z:-47.98 [[ 3.77066802e-01 -3.88395280e-01 8.40814922e-01 1.59578238e+02] [ 1.80684462e-01 9.21229784e-01 3.44512425e-01 -6.76961029e+01] [-9.08390749e-01 2.20179931e-02 4.17542160e-01 -4.79777597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:159.59, Y:-67.69, Z:-48.01 [[ 3.74482116e-01 -3.97291267e-01 8.37808328e-01 1.59594049e+02] [ 1.83211246e-01 9.17446687e-01 3.53164574e-01 -6.76944091e+01] [-9.08953675e-01 2.12420903e-02 4.16355605e-01 -4.80069106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:-67.69, Z:-48.04 [[ 3.71554781e-01 -3.95456159e-01 8.39977066e-01 1.59604378e+02] [ 1.83812826e-01 9.18171319e-01 3.50961926e-01 -6.76874866e+01] [-9.10032906e-01 2.39969764e-02 4.13840858e-01 -4.80377125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:159.61, Y:-67.68, Z:-48.07 [[ 3.71158770e-01 -3.79508979e-01 8.47475134e-01 1.59606431e+02] [ 1.83520036e-01 9.24645654e-01 3.33692691e-01 -6.76754282e+01] [-9.10253571e-01 3.16756981e-02 4.12837845e-01 -4.80707572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:-67.67, Z:-48.10 [[ 3.75106971e-01 -3.69442484e-01 8.50180576e-01 1.59612081e+02] [ 1.82687068e-01 9.28624599e-01 3.22926909e-01 -6.76674447e+01] [-9.08801516e-01 3.41848622e-02 4.15825925e-01 -4.80984909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:-67.67, Z:-48.12 [[ 3.70535528e-01 -3.92016033e-01 8.42037322e-01 1.59632496e+02] [ 1.81167663e-01 9.19659623e-01 3.48431422e-01 -6.76720318e+01] [-9.10978430e-01 2.34437132e-02 4.11787193e-01 -4.81179869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.65, Y:-67.67, Z:-48.15 [[ 3.67343467e-01 -4.02169063e-01 8.38641057e-01 1.59649405e+02] [ 1.81131256e-01 9.15351267e-01 3.59615804e-01 -6.76709938e+01] [-9.12277505e-01 1.98015915e-02 4.09093696e-01 -4.81507149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.66, Y:-67.66, Z:-48.18 [[ 3.68729890e-01 -3.96001272e-01 8.40964483e-01 1.59659531e+02] [ 1.80606056e-01 9.17993749e-01 3.53084877e-01 -6.76626983e+01] [-9.11822198e-01 2.16903302e-02 4.10011962e-01 -4.81811519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:-67.64, Z:-48.21 [[ 3.68682876e-01 -3.57642353e-01 8.58000515e-01 1.59643018e+02] [ 1.80045428e-01 9.33017912e-01 3.11546497e-01 -6.76417640e+01] [-9.11952072e-01 3.96172111e-02 4.08379598e-01 -4.82144744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-67.65, Z:-48.24 [[ 3.66538750e-01 -4.01503818e-01 8.39311640e-01 1.59680191e+02] [ 1.78891630e-01 9.15676001e-01 3.59910052e-01 -6.76548676e+01] [-9.13042786e-01 1.82248468e-02 4.07456410e-01 -4.82383401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-67.64, Z:-48.27 [[ 3.69805633e-01 -3.83259071e-01 8.46378331e-01 1.59681272e+02] [ 1.78804255e-01 9.23285577e-01 3.39959970e-01 -6.76419606e+01] [-9.11741648e-01 2.56169346e-02 4.09964560e-01 -4.82694712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-67.64, Z:-48.30 [[ 3.67194620e-01 -3.95613396e-01 8.41818360e-01 1.59698454e+02] [ 1.76655294e-01 9.18229721e-01 3.54467328e-01 -6.76414174e+01] [-9.13214662e-01 1.85531741e-02 4.07056214e-01 -4.82975044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12361786499997 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:159.70, Y:-67.63, Z:-48.32 [[ 3.68341379e-01 -3.91930839e-01 8.43039054e-01 1.59704325e+02] [ 1.76869004e-01 9.19775803e-01 3.50328170e-01 -6.76338626e+01] [-9.12711337e-01 2.00671163e-02 4.08111905e-01 -4.83186824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.73, Y:-67.64, Z:-48.34 [[ 3.67814194e-01 -4.19649457e-01 8.29823506e-01 1.59731043e+02] [ 1.76286721e-01 9.07665112e-01 3.80876670e-01 -6.76407247e+01] [-9.13036533e-01 6.19501962e-03 4.07830738e-01 -4.83394497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.75, Y:-67.64, Z:-48.38 [[ 3.71863406e-01 -4.23156326e-01 8.26230192e-01 1.59754533e+02] [ 1.77176859e-01 9.06049990e-01 3.84293867e-01 -6.76386564e+01] [-9.11222238e-01 3.48404359e-03 4.11900344e-01 -4.83770332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:-67.62, Z:-48.41 [[ 3.70305150e-01 -3.78362526e-01 8.48360710e-01 1.59737669e+02] [ 1.74816379e-01 9.25353048e-01 3.36394069e-01 -6.76160861e+01] [-9.12312079e-01 2.37388916e-02 4.08806967e-01 -4.84108977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.75, Y:-67.62, Z:-48.44 [[ 3.68254644e-01 -3.90961732e-01 8.43526787e-01 1.59754777e+02] [ 1.74815265e-01 9.20220946e-01 3.50189996e-01 -6.76161246e+01] [-9.13141906e-01 1.85022670e-02 4.07221716e-01 -4.84373713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.78, Y:-67.62, Z:-48.47 [[ 3.68906887e-01 -4.07255946e-01 8.35494048e-01 1.59779107e+02] [ 1.76069768e-01 9.13240848e-01 3.67410655e-01 -6.76180059e+01] [-9.12637467e-01 1.15649220e-02 4.08606298e-01 -4.84654237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.78, Y:-67.61, Z:-48.50 [[ 3.71235027e-01 -3.92473464e-01 8.41515974e-01 1.59783049e+02] [ 1.78272788e-01 9.19545741e-01 3.50220564e-01 -6.76058814e+01] [-9.11264708e-01 2.00052582e-02 4.11334926e-01 -4.84972980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:-67.60, Z:-48.53 [[ 3.70233512e-01 -3.97462992e-01 8.39613195e-01 1.59798208e+02] [ 1.78504642e-01 9.17437239e-01 3.55591065e-01 -6.76024867e+01] [-9.11626700e-01 1.82231242e-02 4.10615000e-01 -4.85252741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-67.59, Z:-48.56 [[ 3.69815621e-01 -3.92039923e-01 8.42342629e-01 1.59806591e+02] [ 1.78293191e-01 9.19712293e-01 3.49772550e-01 -6.75945782e+01] [-9.11837675e-01 2.08326023e-02 4.10022021e-01 -4.85567867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39361786499995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:159.81, Y:-67.58, Z:-48.59 [[ 3.72711019e-01 -3.74181541e-01 8.49161157e-01 1.59805797e+02] [ 1.82079295e-01 9.26796662e-01 3.28473861e-01 -6.75800074e+01] [-9.09908581e-01 3.21888374e-02 4.13558040e-01 -4.85899855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-67.58, Z:-48.61 [[ 3.66853581e-01 -3.95184800e-01 8.42168287e-01 1.59827970e+02] [ 1.79626839e-01 9.18340706e-01 3.52681933e-01 -6.75843830e+01] [-9.12771959e-01 2.18933974e-02 4.07882373e-01 -4.86109449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.85, Y:-67.59, Z:-48.64 [[ 3.67051437e-01 -4.12367750e-01 8.33802184e-01 1.59852576e+02] [ 1.82312013e-01 9.10874861e-01 3.70228738e-01 -6.75857307e+01] [-9.12159839e-01 1.61191646e-02 4.09517521e-01 -4.86371942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:159.85, Y:-67.57, Z:-48.67 [[ 3.71297457e-01 -3.85874026e-01 8.44535040e-01 1.59847825e+02] [ 1.83820980e-01 9.22101301e-01 3.40498221e-01 -6.75701951e+01] [-9.10136279e-01 2.88171348e-02 4.13305610e-01 -4.86714569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51361786499996 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:159.84, Y:-67.55, Z:-48.70 [[ 3.70092026e-01 -3.52364604e-01 8.59576104e-01 1.59835736e+02] [ 1.83844315e-01 9.34755610e-01 3.04028316e-01 -6.75502878e+01] [-9.10622403e-01 4.55097244e-02 4.10725827e-01 -4.87002402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.91, Y:-67.59, Z:-48.71 [[ 3.69809433e-01 -4.45779873e-01 8.15181752e-01 1.59907776e+02] [ 1.83998430e-01 8.95142602e-01 4.06034850e-01 -6.75860593e+01] [-9.10706078e-01 -1.63355304e-04 4.13054975e-01 -4.87109858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.88, Y:-67.56, Z:-48.75 [[ 3.62359150e-01 -3.95010414e-01 8.44193473e-01 1.59883217e+02] [ 1.82698274e-01 9.18281207e-01 3.51256268e-01 -6.75609718e+01] [-9.13956885e-01 2.69517678e-02 4.04915318e-01 -4.87529867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.87, Y:-67.54, Z:-48.78 [[ 3.57349069e-01 -3.68349198e-01 8.58265991e-01 1.59867039e+02] [ 1.81364490e-01 9.28818235e-01 3.23115471e-01 -6.75425305e+01] [-9.16192428e-01 4.01939612e-02 3.98717796e-01 -4.87827013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-67.57, Z:-48.80 [[ 3.60362192e-01 -4.49659499e-01 8.17279282e-01 1.59938516e+02] [ 1.82819050e-01 8.93199002e-01 4.10819593e-01 -6.75708053e+01] [-9.14721972e-01 1.37037249e-03 4.04081473e-01 -4.87996736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:-67.54, Z:-48.84 [[ 3.59327038e-01 -3.94742966e-01 8.45613428e-01 1.59913423e+02] [ 1.82170605e-01 9.18370456e-01 3.51296992e-01 -6.75435686e+01] [-9.15258406e-01 2.78154016e-02 4.01905901e-01 -4.88399035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.90, Y:-67.53, Z:-48.87 [[ 3.53596487e-01 -3.74039770e-01 8.57358603e-01 1.59900538e+02] [ 1.83591800e-01 9.26494694e-01 3.28483840e-01 -6.75269788e+01] [-9.17204217e-01 4.12532774e-02 3.96275904e-01 -4.88694117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72361786499997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:159.97, Y:-67.55, Z:-48.89 [[ 3.58107746e-01 -4.46889459e-01 8.19785736e-01 1.59967380e+02] [ 1.81648521e-01 8.94585135e-01 4.08315137e-01 -6.75531882e+01] [-9.15839864e-01 2.69205322e-03 4.01534676e-01 -4.88889044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:-67.52, Z:-48.93 [[ 3.53790124e-01 -3.76629123e-01 8.56144294e-01 1.59924304e+02] [ 1.82552048e-01 9.25545732e-01 3.31722547e-01 -6.75170117e+01] [-9.17337069e-01 3.89307331e-02 3.96203357e-01 -4.89274718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:159.98, Y:-67.54, Z:-48.95 [[ 3.55517928e-01 -4.36424341e-01 8.26523319e-01 1.59977215e+02] [ 1.81220204e-01 8.99699843e-01 3.97113877e-01 -6.75375509e+01] [-9.16933062e-01 8.60162201e-03 3.98948332e-01 -4.89504493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:159.96, Y:-67.51, Z:-48.99 [[ 3.55759751e-01 -3.90323482e-01 8.49165814e-01 1.59955198e+02] [ 1.83729370e-01 9.20088267e-01 3.45949562e-01 -6.75112175e+01] [-9.16339740e-01 3.29417698e-02 3.99044260e-01 -4.89852635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.00, Y:-67.53, Z:-49.00 [[ 3.57405113e-01 -4.37908173e-01 8.24923037e-01 1.59998622e+02] [ 1.81551128e-01 8.98989941e-01 3.98567777e-01 -6.75274212e+01] [-9.16133600e-01 7.31554623e-03 4.00806324e-01 -4.90020630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-67.50, Z:-49.04 [[ 3.53545711e-01 -3.88375579e-01 8.50981692e-01 1.59971836e+02] [ 1.82202032e-01 9.20902097e-01 3.44589244e-01 -6.74999720e+01] [-9.17500872e-01 3.32225437e-02 3.96343806e-01 -4.90370450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:160.00, Y:-67.51, Z:-49.06 [[ 3.52802754e-01 -4.22801302e-01 8.34727067e-01 1.60002542e+02] [ 1.83785055e-01 9.06025116e-01 3.81236859e-01 -6.75089144e+01] [-9.17471128e-01 1.89089460e-02 3.97352717e-01 -4.90575371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:160.03, Y:-67.51, Z:-49.08 [[ 3.54952714e-01 -4.45411412e-01 8.21959393e-01 1.60032317e+02] [ 1.83287714e-01 8.95302110e-01 4.06004613e-01 -6.75140592e+01] [-9.16741067e-01 6.54261925e-03 3.99428354e-01 -4.90791448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.03, Y:-67.50, Z:-49.11 [[ 3.52028959e-01 -4.20839932e-01 8.36043877e-01 1.60028322e+02] [ 1.82963545e-01 9.06927934e-01 3.79481308e-01 -6.74977838e+01] [-9.17932434e-01 1.93771413e-02 3.96263262e-01 -4.91143097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:-67.48, Z:-49.15 [[ 3.52061191e-01 -3.99646248e-01 8.46366230e-01 1.60025929e+02] [ 1.82997418e-01 9.16198718e-01 3.56499445e-01 -6.74830270e+01] [-9.17913320e-01 2.93732158e-02 3.95692243e-01 -4.91469367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:-67.46, Z:-49.18 [[ 3.45270921e-01 -3.71458303e-01 8.61862356e-01 1.60006858e+02] [ 1.84336527e-01 9.27290482e-01 3.25810385e-01 -6.74633597e+01] [-9.20221732e-01 4.63798621e-02 3.88639772e-01 -4.91777397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:-67.48, Z:-49.20 [[ 3.44078600e-01 -4.31077175e-01 8.34135712e-01 1.60052521e+02] [ 1.83277225e-01 9.02125870e-01 3.90612818e-01 -6.74820641e+01] [-9.20879675e-01 1.84765672e-02 3.89408835e-01 -4.91993904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:160.06, Y:-67.48, Z:-49.23 [[ 3.44505379e-01 -4.30284219e-01 8.34368944e-01 1.60062765e+02] [ 1.82620347e-01 9.02513835e-01 3.90023827e-01 -6.74761252e+01] [-9.20850614e-01 1.80074400e-02 3.89499524e-01 -4.92285594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-67.49, Z:-49.25 [[ 3.55581601e-01 -4.68866743e-01 8.08533056e-01 1.60117794e+02] [ 1.81122505e-01 8.83238274e-01 4.32532993e-01 -6.74859392e+01] [-9.16927676e-01 -7.35724169e-03 3.98985598e-01 -4.92532033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499995 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:160.05, Y:-67.42, Z:-49.30 [[ 3.59171699e-01 -3.43010405e-01 8.67951354e-01 1.60049002e+02] [ 1.83155008e-01 9.37831040e-01 2.94834162e-01 -6.74237446e+01] [-9.15122906e-01 5.30735508e-02 3.99666441e-01 -4.92988467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:-67.48, Z:-49.31 [[ 3.51970957e-01 -4.71367585e-01 8.08658794e-01 1.60133452e+02] [ 1.79269001e-01 8.81895860e-01 4.36030180e-01 -6.74761395e+01] [-9.18683336e-01 -8.50250592e-03 3.94903325e-01 -4.93083768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.09, Y:-67.43, Z:-49.35 [[ 3.52983831e-01 -3.80603089e-01 8.54718494e-01 1.60090240e+02] [ 1.76687696e-01 9.24201606e-01 3.38574734e-01 -6.74318287e+01] [-9.18794794e-01 3.15068343e-02 3.93476107e-01 -4.93537495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:-67.43, Z:-49.38 [[ 3.51717426e-01 -3.83362910e-01 8.54006869e-01 1.60103640e+02] [ 1.74850625e-01 9.23145536e-01 3.42388051e-01 -6.74263934e+01] [-9.19631508e-01 2.88997903e-02 3.91717616e-01 -4.93820325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-67.42, Z:-49.41 [[ 3.49787539e-01 -3.81403303e-01 8.55675288e-01 1.60110167e+02] [ 1.74726003e-01 9.23907287e-01 3.40391170e-01 -6.74197604e+01] [-9.20390950e-01 3.04441333e-02 3.89812331e-01 -4.94129618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.12, Y:-67.41, Z:-49.44 [[ 3.49359514e-01 -3.77705328e-01 8.57488551e-01 1.60116282e+02] [ 1.73733957e-01 9.25396717e-01 3.36834421e-01 -6.74125763e+01] [-9.20741246e-01 3.12985694e-02 3.88916389e-01 -4.94421847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:-67.42, Z:-49.47 [[ 3.49237225e-01 -3.99555853e-01 8.47578009e-01 1.60139929e+02] [ 1.71634623e-01 9.16505993e-01 3.61328551e-01 -6.74154950e+01] [-9.21181262e-01 1.92843512e-02 3.88655627e-01 -4.94688510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.13, Y:-67.40, Z:-49.50 [[ 3.46443801e-01 -3.68406677e-01 8.62701114e-01 1.60126460e+02] [ 1.70990276e-01 9.29048107e-01 3.28073072e-01 -6.73960924e+01] [-9.22355148e-01 3.38546199e-02 3.84856917e-01 -4.95012737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.13, Y:-67.39, Z:-49.53 [[ 3.41238999e-01 -3.78178514e-01 8.60544570e-01 1.60132211e+02] [ 1.71080314e-01 9.25192244e-01 3.38748931e-01 -6.73924370e+01] [-9.24276729e-01 3.16278893e-02 3.80410574e-01 -4.95251522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.17, Y:-67.41, Z:-49.55 [[ 3.42124579e-01 -4.30731275e-01 8.35117561e-01 1.60174332e+02] [ 1.68357011e-01 9.02466675e-01 3.96496932e-01 -6.74082879e+01] [-9.24449398e-01 4.94655081e-03 3.81272662e-01 -4.95476876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-67.41, Z:-49.58 [[ 3.49324599e-01 -4.48826967e-01 8.22512418e-01 1.60207976e+02] [ 1.67129039e-01 8.93582222e-01 4.16627768e-01 -6.74102302e+01] [-9.21976252e-01 -8.07261812e-03 3.87162271e-01 -4.95769296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.19, Y:-67.38, Z:-49.61 [[ 3.46283734e-01 -4.00599524e-01 8.48296881e-01 1.60186838e+02] [ 1.65105090e-01 9.16152620e-01 3.65246063e-01 -6.73835610e+01] [-9.23486808e-01 1.35793619e-02 3.83389770e-01 -4.96131608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:-67.38, Z:-49.64 [[ 3.46288116e-01 -4.09761132e-01 8.43907789e-01 1.60203509e+02] [ 1.64766743e-01 9.12147556e-01 3.75284900e-01 -6.73809406e+01] [-9.23545593e-01 9.09123651e-03 3.83380865e-01 -4.96412964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-67.37, Z:-49.67 [[ 3.47324035e-01 -4.03703653e-01 8.46397883e-01 1.60209932e+02] [ 1.63460919e-01 9.14834087e-01 3.69268358e-01 -6.73727954e+01] [-9.23388620e-01 1.00971999e-02 3.83733636e-01 -4.96694894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.24, Y:-67.38, Z:-49.70 [[ 3.45715904e-01 -4.29963139e-01 8.34033700e-01 1.60236974e+02] [ 1.64712301e-01 9.02846440e-01 3.97162641e-01 -6.73756387e+01] [-9.23769653e-01 7.01683350e-05 3.82948592e-01 -4.96957010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.21, Y:-67.35, Z:-49.73 [[ 3.35589953e-01 -3.86293029e-01 8.59160683e-01 1.60205539e+02] [ 1.65782886e-01 9.22036108e-01 3.49807732e-01 -6.73508367e+01] [-9.27305461e-01 2.50421769e-02 3.73466828e-01 -4.97281682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:-67.38, Z:-49.75 [[ 3.32229885e-01 -4.62936676e-01 8.21774262e-01 1.60261032e+02] [ 1.66109571e-01 8.86363126e-01 4.32166657e-01 -6.73772381e+01] [-9.28456199e-01 -7.07410821e-03 3.71374532e-01 -4.97482208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.27, Y:-67.37, Z:-49.78 [[ 3.36849995e-01 -4.48213114e-01 8.28032056e-01 1.60269100e+02] [ 1.67271912e-01 8.93925360e-01 4.15833571e-01 -6.73662677e+01] [-9.26580913e-01 -1.56703171e-03 3.76092218e-01 -4.97808035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.29, Y:-67.36, Z:-49.81 [[ 3.40420636e-01 -4.49608590e-01 8.25812271e-01 1.60286648e+02] [ 1.71805709e-01 8.93225573e-01 4.15488718e-01 -6.73586092e+01] [-9.24443935e-01 4.38328693e-04 3.81317740e-01 -4.98098551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:-67.33, Z:-49.85 [[ 3.33726599e-01 -4.00950703e-01 8.53150099e-01 1.60259748e+02] [ 1.72618252e-01 9.15725436e-01 3.62835866e-01 -6.73331966e+01] [-9.26730541e-01 2.61812993e-02 3.74813345e-01 -4.98469944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:160.28, Y:-67.33, Z:-49.87 [[ 3.35784993e-01 -4.16841099e-01 8.44684519e-01 1.60278214e+02] [ 1.76848089e-01 9.08703083e-01 3.78131540e-01 -6.73342551e+01] [-9.25188193e-01 2.24099464e-02 3.78846410e-01 -4.98710174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-67.34, Z:-49.89 [[ 3.30217386e-01 -4.50539471e-01 8.29439970e-01 1.60305651e+02] [ 1.76409790e-01 8.92707135e-01 4.14672831e-01 -6.73434905e+01] [-9.27273457e-01 9.38915223e-03 3.74266990e-01 -4.98902212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:-67.32, Z:-49.93 [[ 3.27042483e-01 -4.13781664e-01 8.49604584e-01 1.60288114e+02] [ 1.79723793e-01 9.09868551e-01 3.73949968e-01 -6.73233679e+01] [-9.27762131e-01 3.03966324e-02 3.71932080e-01 -4.99269176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.31, Y:-67.32, Z:-49.95 [[ 3.27396227e-01 -4.36088749e-01 8.38235238e-01 1.60312797e+02] [ 1.82845128e-01 8.99598790e-01 3.96597626e-01 -6.73244971e+01] [-9.27027168e-01 2.34226629e-02 3.74261952e-01 -4.99540870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-67.33, Z:-49.98 [[ 3.28085868e-01 -4.52833649e-01 8.29036399e-01 1.60335857e+02] [ 1.83520556e-01 8.91447467e-01 4.14296536e-01 -6.73258710e+01] [-9.26649809e-01 1.62203828e-02 3.75575599e-01 -4.99795909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-67.31, Z:-50.01 [[ 3.29961577e-01 -4.38308150e-01 8.36068970e-01 1.60340129e+02] [ 1.85648579e-01 8.98505218e-01 3.97772521e-01 -6.73128874e+01] [-9.25559270e-01 2.39653678e-02 3.77843484e-01 -5.00122023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:-67.30, Z:-50.04 [[ 3.28829898e-01 -4.31969862e-01 8.39805297e-01 1.60345298e+02] [ 1.86266080e-01 9.01455221e-01 3.90747275e-01 -6.73044892e+01] [-9.25837915e-01 2.79378538e-02 3.76886761e-01 -5.00424105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-67.29, Z:-50.08 [[ 3.23767321e-01 -4.02355655e-01 8.56320413e-01 1.60329780e+02] [ 1.86357890e-01 9.14459794e-01 3.59213058e-01 -6.72865087e+01] [-9.27601994e-01 4.32806158e-02 3.71054348e-01 -5.00773647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:-67.30, Z:-50.10 [[ 3.27969264e-01 -4.57321096e-01 8.26615737e-01 1.60380486e+02] [ 1.85892184e-01 8.89148244e-01 4.18162045e-01 -6.73028168e+01] [-9.26218256e-01 1.65171071e-02 3.76625713e-01 -5.00986784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01361786499996 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:160.36, Y:-67.27, Z:-50.14 [[ 3.28129931e-01 -4.03682683e-01 8.54032224e-01 1.60357250e+02] [ 1.87281941e-01 9.13943537e-01 3.60045394e-01 -6.72737752e+01] [-9.25881322e-01 4.18031426e-02 3.75494706e-01 -5.01356691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:-67.28, Z:-50.16 [[ 3.27379633e-01 -4.28259697e-01 8.42268489e-01 1.60379733e+02] [ 1.85888090e-01 9.03161503e-01 3.86968884e-01 -6.72782314e+01] [-9.26427652e-01 2.98819494e-02 3.75285058e-01 -5.01574200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:-67.29, Z:-50.18 [[ 3.40528151e-01 -4.80283794e-01 8.08311855e-01 1.60443212e+02] [ 1.85964641e-01 8.77113021e-01 4.42820394e-01 -6.72913094e+01] [-9.21660312e-01 -4.75386026e-04 3.87997479e-01 -5.01765679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:-67.23, Z:-50.23 [[ 3.31022969e-01 -3.51945377e-01 8.75533121e-01 1.60359326e+02] [ 1.85495552e-01 9.34008490e-01 3.05318754e-01 -6.72310087e+01] [-9.25210892e-01 6.13399797e-02 3.74462565e-01 -5.02257930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-67.28, Z:-50.24 [[ 3.42376732e-01 -4.77698553e-01 8.09062584e-01 1.60462751e+02] [ 1.83289341e-01 8.78519526e-01 4.41144490e-01 -6.72787191e+01] [-9.21511362e-01 -2.74506117e-03 3.88341697e-01 -5.02362118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:-67.22, Z:-50.28 [[ 3.28999878e-01 -3.50991463e-01 8.76677862e-01 1.60378717e+02] [ 1.82514930e-01 9.34489516e-01 3.05643001e-01 -6.72195962e+01] [-9.26524355e-01 5.94502886e-02 3.71508119e-01 -5.02841824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-67.25, Z:-50.30 [[ 3.29905306e-01 -4.24716096e-01 8.43076940e-01 1.60428718e+02] [ 1.80357834e-01 9.04983160e-01 3.85326526e-01 -6.72458852e+01] [-9.26624811e-01 2.49342650e-02 3.75159621e-01 -5.03045547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:-67.24, Z:-50.33 [[ 3.30481876e-01 -4.30518310e-01 8.39902205e-01 1.60442693e+02] [ 1.79520070e-01 9.02331196e-01 3.91881305e-01 -6.72420775e+01] [-9.26582039e-01 2.12696341e-02 3.75490784e-01 -5.03329548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:-67.24, Z:-50.36 [[ 3.30543463e-01 -4.29963894e-01 8.40161930e-01 1.60453907e+02] [ 1.79421524e-01 9.02592581e-01 3.91324097e-01 -6.72365873e+01] [-9.26579158e-01 2.13935117e-02 3.75490855e-01 -5.03640125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-67.24, Z:-50.39 [[ 3.37849204e-01 -4.47519177e-01 8.28000303e-01 1.60485131e+02] [ 1.78699317e-01 8.94225868e-01 4.10398162e-01 -6.72366104e+01] [-9.24080337e-01 9.31039633e-03 3.82084869e-01 -5.03882408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-67.22, Z:-50.42 [[ 3.39348134e-01 -4.29227881e-01 8.37022264e-01 1.60487948e+02] [ 1.78596394e-01 9.03037828e-01 3.90673790e-01 -6.72228382e+01] [-9.23550850e-01 1.69147362e-02 3.83102754e-01 -5.04221077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-67.20, Z:-50.46 [[ 3.32054047e-01 -3.84487319e-01 8.61341751e-01 1.60460017e+02] [ 1.78342893e-01 9.22274422e-01 3.42933964e-01 -6.71977924e+01] [-9.26247225e-01 3.97415692e-02 3.74815535e-01 -5.04581235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-67.22, Z:-50.48 [[ 3.41754174e-01 -4.61653658e-01 8.18584134e-01 1.60530569e+02] [ 1.79046451e-01 8.87059523e-01 4.25520588e-01 -6.72226753e+01] [-9.22575987e-01 1.14114711e-03 3.85813744e-01 -5.04752848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:-67.18, Z:-50.52 [[ 3.34893869e-01 -3.64874381e-01 8.68742069e-01 1.60470614e+02] [ 1.78989273e-01 9.29828083e-01 3.21531610e-01 -6.71774933e+01] [-9.25099420e-01 4.78165464e-02 3.76702324e-01 -5.05186676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:-67.21, Z:-50.54 [[ 3.32228594e-01 -4.40107619e-01 8.34223858e-01 1.60521107e+02] [ 1.78654114e-01 8.97814452e-01 4.02507040e-01 -6.72052332e+01] [-9.26124651e-01 1.53131769e-02 3.76906670e-01 -5.05380413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-67.21, Z:-50.56 [[ 3.39911594e-01 -4.63637055e-01 8.18230279e-01 1.60560198e+02] [ 1.80924579e-01 8.86020359e-01 4.26889003e-01 -6.72052921e+01] [-9.22890245e-01 2.93344785e-03 3.85051931e-01 -5.05636183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-67.18, Z:-50.60 [[ 3.42781753e-01 -4.18539811e-01 8.41026216e-01 1.60548414e+02] [ 1.79830367e-01 9.07944332e-01 3.78547393e-01 -6.71797456e+01] [-9.22042141e-01 2.14829142e-02 3.86492918e-01 -5.05974034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-67.17, Z:-50.63 [[ 3.41272736e-01 -4.00416310e-01 8.50411487e-01 1.60547839e+02] [ 1.78927010e-01 9.15858401e-01 3.59428037e-01 -6.71666777e+01] [-9.22777354e-01 2.94985947e-02 3.84202796e-01 -5.06295622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-67.16, Z:-50.66 [[ 3.41210641e-01 -3.95484589e-01 8.52741015e-01 1.60554101e+02] [ 1.78659583e-01 9.17932881e-01 3.54231533e-01 -6.71590263e+01] [-9.22852129e-01 3.14827850e-02 3.83865579e-01 -5.06592137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-67.15, Z:-50.69 [[ 3.37126599e-01 -3.87255005e-01 8.58125409e-01 1.60552220e+02] [ 1.77815940e-01 9.21270380e-01 3.45893595e-01 -6.71491380e+01] [-9.24514547e-01 3.59784455e-02 3.79444863e-01 -5.06894142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:-67.15, Z:-50.72 [[ 3.36094692e-01 -4.10462052e-01 8.47679929e-01 1.60574104e+02] [ 1.77323643e-01 9.11518263e-01 3.71067086e-01 -6.71540511e+01] [-9.24984694e-01 2.56000155e-02 3.79141076e-01 -5.07166639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-67.15, Z:-50.75 [[ 3.36530677e-01 -4.14107218e-01 8.45731823e-01 1.60587256e+02] [ 1.76957499e-01 9.09926833e-01 3.75125582e-01 -6.71495348e+01] [-9.24896290e-01 2.34173221e-02 3.79497670e-01 -5.07466808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:-67.13, Z:-50.78 [[ 3.29146243e-01 -3.91482578e-01 8.59304452e-01 1.60573848e+02] [ 1.76650305e-01 9.19473581e-01 3.51230699e-01 -6.71344946e+01] [-9.27608442e-01 3.61901285e-02 3.71796791e-01 -5.07785895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:-67.15, Z:-50.80 [[ 3.28669141e-01 -4.30845648e-01 8.40445491e-01 1.60605578e+02] [ 1.75742618e-01 9.02240613e-01 3.93797421e-01 -6.71454291e+01] [-9.27949960e-01 1.82730308e-02 3.72256589e-01 -5.08047925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-67.14, Z:-50.84 [[ 3.28852660e-01 -4.30522672e-01 8.40539206e-01 1.60616282e+02] [ 1.75435549e-01 9.02399583e-01 3.93570021e-01 -6.71394060e+01] [-9.27943046e-01 1.80339088e-02 3.72285485e-01 -5.08357426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:-67.13, Z:-50.87 [[ 3.29302175e-01 -4.29676013e-01 8.40796409e-01 1.60626687e+02] [ 1.74710647e-01 9.02813547e-01 3.92942603e-01 -6.71326364e+01] [-9.27920399e-01 1.74992301e-02 3.72367439e-01 -5.08654780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-67.13, Z:-50.90 [[ 3.29504573e-01 -4.29008787e-01 8.41057784e-01 1.60637507e+02] [ 1.73767228e-01 9.03144362e-01 3.92600576e-01 -6.71271186e+01] [-9.28025693e-01 1.67845947e-02 3.72137865e-01 -5.08962652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:-67.12, Z:-50.93 [[ 3.29477829e-01 -4.28199563e-01 8.41480537e-01 1.60647739e+02] [ 1.72962081e-01 9.03535904e-01 3.92054829e-01 -6.71213103e+01] [-9.28185584e-01 1.63708508e-02 3.71757336e-01 -5.09266730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:-67.12, Z:-50.96 [[ 3.29872614e-01 -4.27065220e-01 8.41902225e-01 1.60658859e+02] [ 1.71320755e-01 9.04094824e-01 3.91486588e-01 -6.71153607e+01] [-9.28349749e-01 1.50946209e-02 3.71401259e-01 -5.09572238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88361786499996 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:160.67, Y:-67.11, Z:-50.98 [[ 3.30727417e-01 -4.25642644e-01 8.42287193e-01 1.60667073e+02] [ 1.68238415e-01 9.04807305e-01 3.91177167e-01 -6.71123417e+01] [-9.28609289e-01 1.23320488e-02 3.70854027e-01 -5.09796792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:-67.12, Z:-51.01 [[ 3.31754474e-01 -4.46765920e-01 8.30866525e-01 1.60689417e+02] [ 1.69106768e-01 8.94644758e-01 4.13537977e-01 -6.71166178e+01] [-9.28085056e-01 3.31207846e-03 3.72353541e-01 -5.10090958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-67.10, Z:-51.04 [[ 3.31381836e-01 -4.12328172e-01 8.48629223e-01 1.60680718e+02] [ 1.69373344e-01 9.10837280e-01 3.76414825e-01 -6.70951007e+01] [-9.28169569e-01 1.89981336e-02 3.71672331e-01 -5.10383416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-67.10, Z:-51.07 [[ 3.32413815e-01 -4.28276662e-01 8.40285759e-01 1.60701798e+02] [ 1.67151647e-01 9.03599354e-01 3.94421772e-01 -6.70986572e+01] [-9.28203309e-01 9.34390252e-03 3.71956058e-01 -5.10665778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:-67.09, Z:-51.10 [[ 3.33165621e-01 -4.27130613e-01 8.40571299e-01 1.60713384e+02] [ 1.65609412e-01 9.04154491e-01 3.93799670e-01 -6.70938530e+01] [-9.28210209e-01 8.00600709e-03 3.71970042e-01 -5.10973917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:-67.09, Z:-51.13 [[ 3.33955970e-01 -4.26024208e-01 8.40819115e-01 1.60724571e+02] [ 1.64217403e-01 9.04686367e-01 3.93160555e-01 -6.70894958e+01] [-9.28173505e-01 6.77881694e-03 3.72086002e-01 -5.11270992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:-67.09, Z:-51.16 [[ 3.34599282e-01 -4.24985167e-01 8.41089132e-01 1.60736075e+02] [ 1.62854219e-01 9.05182889e-01 3.92584310e-01 -6.70852499e+01] [-9.28181999e-01 5.61648508e-03 3.72084172e-01 -5.11577951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:-67.08, Z:-51.19 [[ 3.35136157e-01 -4.23676552e-01 8.41535463e-01 1.60748511e+02] [ 1.60714517e-01 9.05805306e-01 3.92030090e-01 -6.70827325e+01] [-9.28361245e-01 3.86350799e-03 3.71659081e-01 -5.11876131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-67.08, Z:-51.22 [[ 3.35342997e-01 -4.22916614e-01 8.41835264e-01 1.60760146e+02] [ 1.59502380e-01 9.06163892e-01 3.91696301e-01 -6.70791818e+01] [-9.28495593e-01 2.92211700e-03 3.71331921e-01 -5.12172105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:-67.08, Z:-51.25 [[ 3.35337643e-01 -4.22304343e-01 8.42144706e-01 1.60771665e+02] [ 1.58640138e-01 9.06451050e-01 3.91381912e-01 -6.70752704e+01] [-9.28645235e-01 2.35286483e-03 3.70961578e-01 -5.12477591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-67.07, Z:-51.28 [[ 3.35587926e-01 -4.21391479e-01 8.42502205e-01 1.60784231e+02] [ 1.57621362e-01 9.06877340e-01 3.90805574e-01 -6.70726964e+01] [-9.28728297e-01 1.64671285e-03 3.70757384e-01 -5.12787054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:-67.07, Z:-51.31 [[ 3.35281246e-01 -4.20699760e-01 8.42969868e-01 1.60795566e+02] [ 1.57111796e-01 9.07198533e-01 3.90264918e-01 -6.70689000e+01] [-9.28925384e-01 1.59200235e-03 3.70263549e-01 -5.13099618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:160.80, Y:-67.07, Z:-51.34 [[ 3.35523446e-01 -4.14926093e-01 8.45730663e-01 1.60803064e+02] [ 1.57049232e-01 9.09846525e-01 3.84076607e-01 -6.70659882e+01] [-9.28848511e-01 3.95464455e-03 3.70438665e-01 -5.13372305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-67.08, Z:-51.36 [[ 3.39518908e-01 -4.53209942e-01 8.24213358e-01 1.60842345e+02] [ 1.57779248e-01 8.91289334e-01 4.25098849e-01 -6.70793138e+01] [-9.27271600e-01 -1.42853335e-02 3.74116705e-01 -5.13575337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-67.03, Z:-51.40 [[ 3.27497356e-01 -3.51193920e-01 8.77159229e-01 1.60777006e+02] [ 1.58275979e-01 9.35629336e-01 3.15509841e-01 -6.70316554e+01] [-9.31501045e-01 3.55045973e-02 3.62001695e-01 -5.13979292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33361786499995 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:160.83, Y:-67.06, Z:-51.42 [[ 3.28093901e-01 -4.23230590e-01 8.44529608e-01 1.60825965e+02] [ 1.58196993e-01 9.06009296e-01 3.92582305e-01 -6.70612693e+01] [-9.31304517e-01 4.79818412e-03 3.64209931e-01 -5.14156817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499995 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:160.85, Y:-67.07, Z:-51.44 [[ 3.28661705e-01 -4.36970103e-01 8.37280486e-01 1.60845475e+02] [ 1.59659616e-01 8.99476030e-01 4.06757517e-01 -6.70656746e+01] [-9.30854602e-01 -5.73827287e-06 3.65389805e-01 -5.14395639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:-67.06, Z:-51.47 [[ 3.27434826e-01 -4.32504972e-01 8.40074928e-01 1.60852420e+02] [ 1.59232866e-01 9.01629113e-01 4.02131616e-01 -6.70616910e+01] [-9.31359935e-01 2.09564277e-03 3.64093778e-01 -5.14661227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-67.06, Z:-51.50 [[ 3.27810438e-01 -4.31496152e-01 8.40447136e-01 1.60863278e+02] [ 1.59508821e-01 9.02110954e-01 4.00939850e-01 -6.70585331e+01] [-9.31180570e-01 2.62646409e-03 3.64548829e-01 -5.14955921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:-67.06, Z:-51.53 [[ 3.28702814e-01 -4.30928609e-01 8.40389787e-01 1.60876592e+02] [ 1.59892772e-01 9.02381576e-01 4.00177202e-01 -6.70575926e+01] [-9.30800065e-01 2.83288056e-03 3.65517733e-01 -5.15258926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:-67.07, Z:-51.56 [[ 3.36921323e-01 -4.52920652e-01 8.25437402e-01 1.60914939e+02] [ 1.58758694e-01 8.91471034e-01 4.24352533e-01 -6.70655754e+01] [-9.28051561e-01 -1.19280528e-02 3.72260692e-01 -5.15559244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-67.04, Z:-51.59 [[ 3.37336244e-01 -3.87078424e-01 8.58122691e-01 1.60888548e+02] [ 1.59362937e-01 9.21878632e-01 3.53190093e-01 -6.70379626e+01] [-9.27797237e-01 1.76091334e-02 3.72669029e-01 -5.15949354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-67.02, Z:-51.62 [[ 3.28579749e-01 -3.56894166e-01 8.74449486e-01 1.60868690e+02] [ 1.61642542e-01 9.33446031e-01 3.20234595e-01 -6.70199491e+01] [-9.30541261e-01 3.61256344e-02 3.64400742e-01 -5.16238291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-67.06, Z:-51.64 [[ 3.36727744e-01 -4.57204564e-01 8.23151513e-01 1.60954673e+02] [ 1.61322317e-01 8.89289656e-01 4.27947448e-01 -6.70606144e+01] [-9.27679652e-01 -1.13090697e-02 3.73205800e-01 -5.16440998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.92, Y:-67.03, Z:-51.69 [[ 3.35604325e-01 -3.86108526e-01 8.59238001e-01 1.60922917e+02] [ 1.62223905e-01 9.22200940e-01 3.51039644e-01 -6.70315455e+01] [-9.27929492e-01 2.15785213e-02 3.72130657e-01 -5.16861004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.92, Y:-67.02, Z:-51.72 [[ 3.33026241e-01 -3.68356431e-01 8.67990243e-01 1.60920921e+02] [ 1.64023504e-01 9.29133238e-01 3.31372472e-01 -6.70204108e+01] [-9.28541767e-01 3.20150727e-02 3.69844863e-01 -5.17166202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:160.95, Y:-67.03, Z:-51.74 [[ 3.30803281e-01 -4.01199979e-01 8.54170807e-01 1.60951852e+02] [ 1.64974679e-01 9.15777297e-01 3.66244860e-01 -6.70307129e+01] [-9.29167662e-01 1.97615534e-02 3.69129972e-01 -5.17426524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-67.02, Z:-51.77 [[ 3.29694972e-01 -3.86194665e-01 8.61484130e-01 1.60952790e+02] [ 1.66554345e-01 9.21985200e-01 3.49575372e-01 -6.70236079e+01] [-9.29279762e-01 2.82306825e-02 3.68296284e-01 -5.17729578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:-67.02, Z:-51.80 [[ 3.28585299e-01 -3.95900891e-01 8.57492965e-01 1.60967435e+02] [ 1.67177374e-01 9.17948938e-01 3.59751960e-01 -6.70245955e+01] [-9.29560879e-01 2.51442167e-02 3.67810198e-01 -5.18003783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:160.99, Y:-67.03, Z:-51.83 [[ 3.29268328e-01 -4.17362575e-01 8.46989285e-01 1.60994571e+02] [ 1.67913353e-01 9.08593950e-01 3.82442337e-01 -6.70296337e+01] [-9.29186458e-01 1.62946619e-02 3.69251960e-01 -5.18280127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.99, Y:-67.02, Z:-51.86 [[ 3.28545279e-01 -3.95358428e-01 8.57758540e-01 1.60989347e+02] [ 1.67802731e-01 9.18158556e-01 3.58924935e-01 -6.70177514e+01] [-9.29462341e-01 2.60111332e-02 3.67998883e-01 -5.18604954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:-67.02, Z:-51.89 [[ 3.27355294e-01 -3.99243446e-01 8.56412975e-01 1.61000073e+02] [ 1.68602011e-01 9.16486711e-01 3.62802247e-01 -6.70165711e+01] [-9.29737529e-01 2.56277138e-02 3.67330024e-01 -5.18910218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:-67.02, Z:-51.92 [[ 3.27264519e-01 -4.11039378e-01 8.50849319e-01 1.61018088e+02] [ 1.67330785e-01 9.11412359e-01 3.75936059e-01 -6.70178263e+01] [-9.29999109e-01 1.93427509e-02 3.67052469e-01 -5.19189117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.03, Y:-67.02, Z:-51.95 [[ 3.26651596e-01 -4.16401380e-01 8.48474293e-01 1.61033468e+02] [ 1.66522079e-01 9.09031065e-01 3.82011677e-01 -6.70161934e+01] [-9.30359679e-01 1.65049791e-02 3.66276472e-01 -5.19489316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:-67.01, Z:-51.98 [[ 3.25426822e-01 -4.03544775e-01 8.55130983e-01 1.61035209e+02] [ 1.65162943e-01 9.14713893e-01 3.68808483e-01 -6.70083992e+01] [-9.31030926e-01 2.12157774e-02 3.64323078e-01 -5.19817665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:-67.01, Z:-52.01 [[ 3.26916401e-01 -4.14270959e-01 8.49414645e-01 1.61054682e+02] [ 1.64836202e-01 9.10018877e-01 3.80387526e-01 -6.70085544e+01] [-9.30566867e-01 1.56593634e-02 3.65786948e-01 -5.20083140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:-67.00, Z:-52.04 [[ 3.31256872e-01 -4.12435070e-01 8.48626064e-01 1.61068649e+02] [ 1.64563434e-01 9.10874944e-01 3.78451731e-01 -6.70036788e+01] [-9.29078985e-01 1.42880828e-02 3.69605317e-01 -5.20368723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.06, Y:-66.99, Z:-52.07 [[ 3.27721323e-01 -3.91046790e-01 8.60047175e-01 1.61059513e+02] [ 1.63696015e-01 9.20054365e-01 3.55954465e-01 -6.69920752e+01] [-9.30485008e-01 2.41324270e-02 3.65534235e-01 -5.20700770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:-67.00, Z:-52.10 [[ 3.24564834e-01 -4.25269189e-01 8.44869094e-01 1.61091538e+02] [ 1.62542476e-01 9.05014500e-01 3.93101385e-01 -6.70014967e+01] [-9.31792687e-01 9.74022839e-03 3.62860188e-01 -5.20972984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.10, Y:-66.99, Z:-52.13 [[ 3.24208809e-01 -4.15994332e-01 8.49610125e-01 1.61096801e+02] [ 1.61923397e-01 9.09270455e-01 3.83416292e-01 -6.69935778e+01] [-9.32024389e-01 1.32648181e-02 3.62152706e-01 -5.21298808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.11, Y:-66.99, Z:-52.16 [[ 3.24819681e-01 -4.12850182e-01 8.50909456e-01 1.61106192e+02] [ 1.61141640e-01 9.10697807e-01 3.80345731e-01 -6.69889101e+01] [-9.31947180e-01 1.35731665e-02 3.62339927e-01 -5.21600854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-66.98, Z:-52.19 [[ 3.25312389e-01 -4.07971482e-01 8.53071579e-01 1.61113127e+02] [ 1.59158739e-01 9.12894961e-01 3.75887332e-01 -6.69833812e+01] [-9.32116058e-01 1.34929910e-02 3.61908268e-01 -5.21874477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-66.99, Z:-52.22 [[ 3.25750780e-01 -4.34961865e-01 8.39460902e-01 1.61142122e+02] [ 1.59967697e-01 9.00445334e-01 4.04485521e-01 -6.69886832e+01] [-9.31824428e-01 2.52515347e-03 3.62900617e-01 -5.22172174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-66.97, Z:-52.25 [[ 3.25828932e-01 -4.10962488e-01 8.51437220e-01 1.61137814e+02] [ 1.59914494e-01 9.11563269e-01 3.78787223e-01 -6.69741237e+01] [-9.31806236e-01 1.27373160e-02 3.62732545e-01 -5.22521955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.15, Y:-66.97, Z:-52.28 [[ 3.27737359e-01 -4.10101526e-01 8.51119828e-01 1.61148549e+02] [ 1.57741711e-01 9.11983427e-01 3.78686917e-01 -6.69698435e+01] [-9.31507260e-01 1.01472481e-02 3.63581157e-01 -5.22832048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.15, Y:-66.96, Z:-52.31 [[ 3.31514903e-01 -3.98098844e-01 8.55345065e-01 1.61151599e+02] [ 1.56716746e-01 9.17255232e-01 3.66173049e-01 -6.69606476e+01] [-9.30342803e-01 1.26550723e-02 3.66472535e-01 -5.23134184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.19, Y:-66.97, Z:-52.34 [[ 3.36950073e-01 -4.23603033e-01 8.40847857e-01 1.61185816e+02] [ 1.56013841e-01 9.05846659e-01 3.93829293e-01 -6.69656342e+01] [-9.28506505e-01 -1.51690549e-03 3.71313034e-01 -5.23383142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.16, Y:-66.94, Z:-52.37 [[ 3.29288032e-01 -3.87959046e-01 8.60846775e-01 1.61161753e+02] [ 1.54824242e-01 9.21537299e-01 3.56087715e-01 -6.69446860e+01] [-9.31449862e-01 1.60245261e-02 3.63516669e-01 -5.23716264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32361786499996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:161.21, Y:-66.96, Z:-52.39 [[ 3.36184670e-01 -4.36943363e-01 8.34302323e-01 1.61210636e+02] [ 1.51930044e-01 8.99421488e-01 4.09827096e-01 -6.69611793e+01] [-9.29460666e-01 -1.10219978e-02 3.68756540e-01 -5.23933196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.21, Y:-66.95, Z:-52.43 [[ 3.34598501e-01 -4.15293126e-01 8.45916936e-01 1.61206900e+02] [ 1.51017784e-01 9.09686068e-01 3.86865462e-01 -6.69469264e+01] [-9.30181419e-01 -1.69610263e-03 3.67096242e-01 -5.24313328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:-66.93, Z:-52.46 [[ 3.37786262e-01 -3.92066957e-01 8.55677476e-01 1.61204154e+02] [ 1.49540177e-01 9.19920118e-01 3.62470291e-01 -6.69331160e+01] [-9.29267549e-01 5.52067619e-03 3.69366140e-01 -5.24624561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41361786499996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:161.22, Y:-66.93, Z:-52.49 [[ 3.36290396e-01 -3.98418000e-01 8.53329870e-01 1.61216814e+02] [ 1.51008490e-01 9.17191070e-01 3.68723442e-01 -6.69302493e+01] [-9.29572593e-01 4.86190341e-03 3.68607049e-01 -5.24902256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:161.22, Y:-66.92, Z:-52.52 [[ 3.38446806e-01 -3.83343505e-01 8.59361110e-01 1.61215661e+02] [ 1.50220317e-01 9.23555079e-01 3.52817053e-01 -6.69199644e+01] [-9.28917443e-01 9.68369372e-03 3.70160249e-01 -5.25168230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47361786499997 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:161.22, Y:-66.91, Z:-52.54 [[ 3.35837745e-01 -3.83671367e-01 8.60237927e-01 1.61219529e+02] [ 1.56595799e-01 9.23314277e-01 3.50668648e-01 -6.69120723e+01] [-9.28811480e-01 1.69418779e-02 3.70165109e-01 -5.25418088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50361786499997 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:161.26, Y:-66.93, Z:-52.56 [[ 3.33177483e-01 -4.40427093e-01 8.33676640e-01 1.61263400e+02] [ 1.57466324e-01 8.97769783e-01 4.11356017e-01 -6.69307378e+01] [-9.29622032e-01 -5.77856608e-03 3.68469112e-01 -5.25594042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:-66.94, Z:-52.58 [[ 3.34261913e-01 -4.71482741e-01 8.16071687e-01 1.61301503e+02] [ 1.61939220e-01 8.81730981e-01 4.43087086e-01 -6.69378639e+01] [-9.28463603e-01 -1.59531244e-02 3.71080632e-01 -5.25845430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.26, Y:-66.90, Z:-52.63 [[ 3.30499647e-01 -3.87879070e-01 8.60418393e-01 1.61255122e+02] [ 1.60928943e-01 9.21456954e-01 3.53580199e-01 -6.69024476e+01] [-9.29984870e-01 2.16080915e-02 3.66962167e-01 -5.26278458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.26, Y:-66.90, Z:-52.65 [[ 3.32338722e-01 -3.80176149e-01 8.63143713e-01 1.61258964e+02] [ 1.63606258e-01 9.24525204e-01 3.44218156e-01 -6.68950428e+01] [-9.28861651e-01 2.68186906e-02 3.69454722e-01 -5.26538384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.25, Y:-66.89, Z:-52.68 [[ 3.24729417e-01 -3.76766641e-01 8.67523893e-01 1.61252969e+02] [ 1.69356595e-01 9.25570037e-01 3.38583004e-01 -6.68850173e+01] [-9.30520902e-01 3.69730313e-02 3.64367734e-01 -5.26783602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.31, Y:-66.91, Z:-52.70 [[ 3.20978348e-01 -4.50293585e-01 8.33191807e-01 1.61306829e+02] [ 1.72940913e-01 8.92817636e-01 4.15894350e-01 -6.69086440e+01] [-9.31162897e-01 1.05998700e-02 3.64449313e-01 -5.26961744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:-66.91, Z:-52.72 [[ 3.25856947e-01 -4.62656880e-01 8.24479145e-01 1.61334264e+02] [ 1.73000624e-01 8.86532978e-01 4.29103791e-01 -6.69100195e+01] [-9.29455773e-01 2.80895505e-03 3.68922858e-01 -5.27241568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.30, Y:-66.88, Z:-52.77 [[ 3.25395973e-01 -4.00768984e-01 8.56447127e-01 1.61303423e+02] [ 1.74172569e-01 9.15645007e-01 3.62295648e-01 -6.68801043e+01] [-9.29398395e-01 3.12800511e-02 3.67750162e-01 -5.27655132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:-66.87, Z:-52.80 [[ 3.24040609e-01 -3.88280598e-01 8.62691058e-01 1.61303522e+02] [ 1.74492258e-01 9.20778675e-01 3.48882621e-01 -6.68694907e+01] [-9.29811882e-01 3.74807736e-02 3.66121641e-01 -5.27965796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-66.86, Z:-52.83 [[ 3.22687681e-01 -3.85486209e-01 8.64449561e-01 1.61309053e+02] [ 1.74798852e-01 9.21867472e-01 3.45840607e-01 -6.68632587e+01] [-9.30224716e-01 3.95062877e-02 3.64857824e-01 -5.28261866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.32, Y:-66.86, Z:-52.86 [[ 3.21068961e-01 -3.87019794e-01 8.64367053e-01 1.61315685e+02] [ 1.74897824e-01 9.21220617e-01 3.47510180e-01 -6.68585491e+01] [-9.30766068e-01 3.96011843e-02 3.63464267e-01 -5.28555636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.33, Y:-66.86, Z:-52.88 [[ 3.22877966e-01 -3.95112482e-01 8.60020898e-01 1.61329740e+02] [ 1.74835527e-01 9.17950834e-01 3.56088200e-01 -6.68567614e+01] [-9.30151793e-01 3.53891735e-02 3.65465797e-01 -5.28820568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:-66.86, Z:-52.91 [[ 3.19280710e-01 -4.20409713e-01 8.49302950e-01 1.61354978e+02] [ 1.74658753e-01 9.06962912e-01 3.83291789e-01 -6.68607841e+01] [-9.31425868e-01 2.59605197e-02 3.63003999e-01 -5.29100415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.36, Y:-66.85, Z:-52.94 [[ 3.19864177e-01 -4.08761861e-01 8.54751806e-01 1.61358553e+02] [ 1.73806380e-01 9.12153218e-01 3.71170917e-01 -6.68510037e+01] [-9.31385125e-01 2.98370376e-02 3.62810557e-01 -5.29411129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:-66.83, Z:-52.97 [[ 3.18585196e-01 -3.86640027e-01 8.65455350e-01 1.61349536e+02] [ 1.74244800e-01 9.21358436e-01 3.47472850e-01 -6.68344980e+01] [-9.31741500e-01 4.01013878e-02 3.60901172e-01 -5.29667770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-66.86, Z:-52.99 [[ 3.18065025e-01 -4.53736490e-01 8.32440891e-01 1.61403270e+02] [ 1.71044952e-01 8.91093575e-01 4.20352073e-01 -6.68595559e+01] [-9.32511804e-01 8.68551930e-03 3.61035036e-01 -5.29861021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.40, Y:-66.84, Z:-53.02 [[ 3.18834906e-01 -4.25247513e-01 8.47058944e-01 1.61397322e+02] [ 1.71494822e-01 9.04833067e-01 3.89700715e-01 -6.68426774e+01] [-9.32166202e-01 2.10160322e-02 3.61420112e-01 -5.30223508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-66.83, Z:-53.06 [[ 3.20715601e-01 -4.09094951e-01 8.54273273e-01 1.61397631e+02] [ 1.70429754e-01 9.12120574e-01 3.72813302e-01 -6.68311100e+01] [-9.31716267e-01 2.60265413e-02 3.62253250e-01 -5.30553693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.42, Y:-66.83, Z:-53.08 [[ 3.23018588e-01 -4.19135392e-01 8.48519013e-01 1.61417561e+02] [ 1.68811397e-01 9.07721482e-01 3.84115117e-01 -6.68300551e+01] [-9.31215176e-01 1.91633573e-02 3.63965742e-01 -5.30837923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.40, Y:-66.81, Z:-53.11 [[ 3.21082144e-01 -3.87757155e-01 8.64031623e-01 1.61401482e+02] [ 1.69221883e-01 9.21146331e-01 3.50504481e-01 -6.68105827e+01] [-9.31810180e-01 3.36723282e-02 3.61380634e-01 -5.31107644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-66.83, Z:-53.13 [[ 3.21836178e-01 -4.52480541e-01 8.31674717e-01 1.61454519e+02] [ 1.64817335e-01 8.91773092e-01 4.21397673e-01 -6.68341882e+01] [-9.32339381e-01 1.45339354e-03 3.61581480e-01 -5.31320434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.44, Y:-66.81, Z:-53.17 [[ 3.24543903e-01 -4.12626170e-01 8.51123316e-01 1.61440566e+02] [ 1.64375414e-01 9.10742744e-01 3.78851391e-01 -6.68133356e+01] [-9.31478383e-01 1.69498383e-02 3.63401602e-01 -5.31676064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:-66.82, Z:-53.19 [[ 3.28139442e-01 -4.29284365e-01 8.41450795e-01 1.61468251e+02] [ 1.61494108e-01 9.03153477e-01 3.97785685e-01 -6.68150007e+01] [-9.30722386e-01 5.36017310e-03 3.65687174e-01 -5.31896914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.45, Y:-66.80, Z:-53.23 [[ 3.23868147e-01 -3.96129974e-01 8.59180113e-01 1.61450927e+02] [ 1.60860543e-01 9.17959379e-01 3.62594075e-01 -6.67972302e+01] [-9.32326825e-01 2.07755082e-02 3.61019486e-01 -5.32261007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:-66.81, Z:-53.25 [[ 3.25311877e-01 -4.31619593e-01 8.41354093e-01 1.61488479e+02] [ 1.60939184e-01 9.02041242e-01 4.00524877e-01 -6.68054346e+01] [-9.31810475e-01 5.11134196e-03 3.62909235e-01 -5.32517292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:-66.79, Z:-53.29 [[ 3.23262108e-01 -4.01717183e-01 8.56810898e-01 1.61477577e+02] [ 1.60632546e-01 9.15577785e-01 3.68665844e-01 -6.67898158e+01] [-9.32576429e-01 1.84560181e-02 3.60500458e-01 -5.32885975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:-66.78, Z:-53.32 [[ 3.22645456e-01 -3.79464392e-01 8.67125530e-01 1.61469771e+02] [ 1.60414512e-01 9.24789088e-01 3.45010619e-01 -6.67757873e+01] [-9.32827473e-01 2.77834098e-02 3.59250593e-01 -5.33175085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:-66.79, Z:-53.34 [[ 3.20402687e-01 -4.25625072e-01 8.46277387e-01 1.61507664e+02] [ 1.59462092e-01 9.04859861e-01 3.94715687e-01 -6.67898881e+01] [-9.33763332e-01 8.48119543e-03 3.57790595e-01 -5.33409097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.51, Y:-66.78, Z:-53.37 [[ 3.17499898e-01 -4.19389156e-01 8.50474309e-01 1.61511250e+02] [ 1.62185874e-01 9.07681859e-01 3.87052174e-01 -6.67817836e+01] [-9.34285586e-01 1.50458937e-02 3.56207895e-01 -5.33742285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.52, Y:-66.78, Z:-53.40 [[ 3.18388927e-01 -4.23741751e-01 8.47980790e-01 1.61523888e+02] [ 1.62989653e-01 9.05680915e-01 3.91377635e-01 -6.67794581e+01] [-9.33843062e-01 1.36017896e-02 3.57424295e-01 -5.34016525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.53, Y:-66.77, Z:-53.43 [[ 3.14651026e-01 -4.30229620e-01 8.46107089e-01 1.61534105e+02] [ 1.66738340e-01 9.02574432e-01 3.96935411e-01 -6.67742221e+01] [-9.34447996e-01 1.61823569e-02 3.55731744e-01 -5.34286999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:161.57, Y:-66.78, Z:-53.46 [[ 3.16117872e-01 -4.58455533e-01 8.30594977e-01 1.61568775e+02] [ 1.67452437e-01 8.88707584e-01 4.26800319e-01 -6.67833517e+01] [-9.33825023e-01 4.16594446e-03 3.57705846e-01 -5.34593347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-66.76, Z:-53.50 [[ 3.14895098e-01 -4.11790565e-01 8.55143034e-01 1.61546941e+02] [ 1.68481027e-01 9.10922147e-01 3.76609858e-01 -6.67606018e+01] [-9.34053115e-01 2.54827790e-02 3.56223816e-01 -5.34957339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:-66.76, Z:-53.52 [[ 3.15050924e-01 -4.24791768e-01 8.48701873e-01 1.61567052e+02] [ 1.69055625e-01 9.05058240e-01 3.90243228e-01 -6.67613160e+01] [-9.33896735e-01 2.05313362e-02 3.56952873e-01 -5.35241120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.57, Y:-66.75, Z:-53.56 [[ 3.14861481e-01 -4.14020065e-01 8.54078236e-01 1.61569332e+02] [ 1.71332893e-01 9.09856879e-01 3.77896149e-01 -6.67527863e+01] [-9.33545547e-01 2.73467541e-02 3.57414140e-01 -5.35554496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:-66.75, Z:-53.58 [[ 3.14376176e-01 -4.27779169e-01 8.47450649e-01 1.61589469e+02] [ 1.68969070e-01 9.03673063e-01 3.93477381e-01 -6.67545194e+01] [-9.34139750e-01 1.94930332e-02 3.56374730e-01 -5.35787187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.59, Y:-66.75, Z:-53.61 [[ 3.15750240e-01 -4.20095072e-01 8.50777243e-01 1.61591394e+02] [ 1.71789830e-01 9.07139701e-01 3.84168995e-01 -6.67471807e+01] [-9.33161315e-01 2.48534256e-02 3.58597639e-01 -5.36078916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.62, Y:-66.75, Z:-53.64 [[ 3.13971838e-01 -4.46177046e-01 8.38061888e-01 1.61620785e+02] [ 1.72168073e-01 8.94819593e-01 4.11893252e-01 -6.67518766e+01] [-9.33691512e-01 1.49646186e-02 3.57765595e-01 -5.36366873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:-66.74, Z:-53.67 [[ 3.12712244e-01 -4.16884895e-01 8.53474099e-01 1.61610134e+02] [ 1.72280306e-01 9.08527861e-01 3.80652888e-01 -6.67359252e+01] [-9.34093437e-01 2.80019600e-02 3.55928843e-01 -5.36714800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.63, Y:-66.73, Z:-53.70 [[ 3.12409378e-01 -4.25740264e-01 8.49202925e-01 1.61626074e+02] [ 1.71850713e-01 9.04526627e-01 3.90254934e-01 -6.67346360e+01] [-9.34273896e-01 2.40168267e-02 3.55746369e-01 -5.36999678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.63, Y:-66.73, Z:-53.73 [[ 3.12450455e-01 -4.23180751e-01 8.50466204e-01 1.61633036e+02] [ 1.72596062e-01 9.05678085e-01 3.87243858e-01 -6.67262791e+01] [-9.34122750e-01 2.57925980e-02 3.56018861e-01 -5.37254107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.66, Y:-66.73, Z:-53.76 [[ 3.12007079e-01 -4.46498878e-01 8.38624072e-01 1.61658177e+02] [ 1.68371095e-01 8.94702128e-01 4.13714004e-01 -6.67331362e+01] [-9.35041580e-01 1.21183554e-02 3.54330903e-01 -5.37570108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.66, Y:-66.72, Z:-53.78 [[ 3.14707714e-01 -4.30273769e-01 8.46063555e-01 1.61659901e+02] [ 1.69016962e-01 9.02512132e-01 3.96112506e-01 -6.67190709e+01] [-9.34019444e-01 1.83394310e-02 3.56751095e-01 -5.37844565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-66.72, Z:-53.82 [[ 3.11969104e-01 -4.41914366e-01 8.41063001e-01 1.61674332e+02] [ 1.66123409e-01 8.96978115e-01 4.09674595e-01 -6.67206158e+01] [-9.35456194e-01 1.19144363e-02 3.53241780e-01 -5.38176519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.68, Y:-66.71, Z:-53.84 [[ 3.15901633e-01 -4.33950560e-01 8.43737560e-01 1.61681424e+02] [ 1.66993509e-01 9.00823360e-01 4.00787277e-01 -6.67109928e+01] [-9.33980367e-01 1.42893406e-02 3.57038498e-01 -5.38411842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:-66.71, Z:-53.87 [[ 3.12001490e-01 -4.38393299e-01 8.42891681e-01 1.61688970e+02] [ 1.63156666e-01 8.98721589e-01 4.07037354e-01 -6.67092072e+01] [-9.35967399e-01 1.05271358e-02 3.51929264e-01 -5.38706659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.71, Y:-66.70, Z:-53.90 [[ 3.16820346e-01 -4.45229914e-01 8.37493398e-01 1.61708659e+02] [ 1.63493613e-01 8.95398084e-01 4.14164350e-01 -6.67033126e+01] [-9.34288342e-01 5.70912910e-03 3.56472579e-01 -5.38953167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.72, Y:-66.70, Z:-53.93 [[ 3.16769800e-01 -4.45759035e-01 8.37231018e-01 1.61718900e+02] [ 1.62840290e-01 8.95139682e-01 4.14979506e-01 -6.66982658e+01] [-9.34419571e-01 4.88196694e-03 3.56140748e-01 -5.39260018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.73, Y:-66.69, Z:-53.96 [[ 3.17103943e-01 -4.44962959e-01 8.37527943e-01 1.61729177e+02] [ 1.62283538e-01 8.95537524e-01 4.14338745e-01 -6.66926060e+01] [-9.34403094e-01 4.52854859e-03 3.56188643e-01 -5.39572203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.73, Y:-66.69, Z:-53.99 [[ 3.12486827e-01 -4.34915181e-01 8.44512148e-01 1.61726477e+02] [ 1.61152120e-01 9.00417808e-01 4.04076436e-01 -6.66851376e+01] [-9.36152753e-01 9.82635981e-03 3.51456207e-01 -5.39940218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.74, Y:-66.68, Z:-54.02 [[ 3.12593206e-01 -4.41081215e-01 8.41268595e-01 1.61741028e+02] [ 1.61692777e-01 8.97433956e-01 4.10448219e-01 -6.66817627e+01] [-9.36024003e-01 7.72373076e-03 3.51851404e-01 -5.40231125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-66.68, Z:-54.05 [[ 3.16285124e-01 -4.46537232e-01 8.36999534e-01 1.61759901e+02] [ 1.63390374e-01 8.94749308e-01 4.15604693e-01 -6.66763217e+01] [-9.34487724e-01 5.30808521e-03 3.55955782e-01 -5.40485233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:-66.67, Z:-54.08 [[ 3.16358319e-01 -4.43960816e-01 8.38341343e-01 1.61768947e+02] [ 1.63286196e-01 8.96024275e-01 4.12889957e-01 -6.66701823e+01] [-9.34481157e-01 6.26839598e-03 3.55957406e-01 -5.40802056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.77, Y:-66.67, Z:-54.11 [[ 3.12912905e-01 -4.40459156e-01 8.41475636e-01 1.61772589e+02] [ 1.62998793e-01 8.97726657e-01 4.09289925e-01 -6.66656103e+01] [-9.35690604e-01 9.08741384e-03 3.52704567e-01 -5.41142987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.78, Y:-66.66, Z:-54.14 [[ 3.11988450e-01 -4.38102452e-01 8.43047714e-01 1.61780117e+02] [ 1.64663150e-01 8.98843587e-01 4.06160378e-01 -6.66592504e+01] [-9.35707889e-01 1.21015455e-02 3.52568147e-01 -5.41449320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.79, Y:-66.66, Z:-54.17 [[ 3.12447812e-01 -4.40487113e-01 8.41633809e-01 1.61791856e+02] [ 1.65499583e-01 8.97682794e-01 4.08381550e-01 -6.66552261e+01] [-9.35406999e-01 1.16921226e-02 3.53379458e-01 -5.41742234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.80, Y:-66.65, Z:-54.21 [[ 3.12338784e-01 -4.37737920e-01 8.43107346e-01 1.61800322e+02] [ 1.66096300e-01 8.99001720e-01 4.05225773e-01 -6.66491851e+01] [-9.35337641e-01 1.34692855e-02 3.53499753e-01 -5.42062267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.81, Y:-66.64, Z:-54.24 [[ 3.13771680e-01 -4.38391814e-01 8.42235092e-01 1.61811771e+02] [ 1.68291839e-01 8.98664683e-01 4.05067457e-01 -6.66441026e+01] [-9.34465189e-01 1.46425959e-02 3.55753292e-01 -5.42350463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-66.64, Z:-54.26 [[ 3.14180313e-01 -4.43568995e-01 8.39367189e-01 1.61826046e+02] [ 1.69144388e-01 8.96144804e-01 4.10261705e-01 -6.66412583e+01] [-9.34173917e-01 1.30780982e-02 3.56578262e-01 -5.42649479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:161.84, Y:-66.64, Z:-54.29 [[ 3.13782575e-01 -4.42749108e-01 8.39948643e-01 1.61836720e+02] [ 1.68295603e-01 8.96554204e-01 4.09715938e-01 -6.66358040e+01] [-9.34460853e-01 1.27979414e-02 3.55835815e-01 -5.42943602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:161.85, Y:-66.63, Z:-54.33 [[ 3.13899524e-01 -4.42758713e-01 8.39899881e-01 1.61847026e+02] [ 1.70398932e-01 8.96519345e-01 4.08922081e-01 -6.66310620e+01] [-9.34040306e-01 1.47575964e-02 3.56862608e-01 -5.43254053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.86, Y:-66.63, Z:-54.35 [[ 3.14037888e-01 -4.42758926e-01 8.39848045e-01 1.61856649e+02] [ 1.72517053e-01 8.96484669e-01 4.08109182e-01 -6.66253963e+01] [-9.33604880e-01 1.67263635e-02 3.57913617e-01 -5.43548820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:161.87, Y:-66.62, Z:-54.39 [[ 3.13558331e-01 -4.42656071e-01 8.40081410e-01 1.61866989e+02] [ 1.73870988e-01 8.96504843e-01 4.07489811e-01 -6.66217226e+01] [-9.33514892e-01 1.82939595e-02 3.58071611e-01 -5.43861443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:-66.62, Z:-54.42 [[ 3.11846882e-01 -4.43697488e-01 8.40169067e-01 1.61878210e+02] [ 1.74134932e-01 8.95977261e-01 4.08536136e-01 -6.66166046e+01] [-9.34038836e-01 1.89020633e-02 3.56670947e-01 -5.44154377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.88, Y:-66.61, Z:-54.45 [[ 3.10175783e-01 -4.39234339e-01 8.43127617e-01 1.61882234e+02] [ 1.75199378e-01 8.98088552e-01 4.03413102e-01 -6.66106557e+01] [-9.34396148e-01 2.25864591e-02 3.55518903e-01 -5.44475180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.89, Y:-66.61, Z:-54.47 [[ 3.11695414e-01 -4.38863760e-01 8.42760090e-01 1.61894150e+02] [ 1.76131394e-01 8.98260722e-01 4.02623159e-01 -6.66056905e+01] [-9.33715000e-01 2.29407168e-02 3.57281433e-01 -5.44732925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499996 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:161.90, Y:-66.60, Z:-54.50 [[ 3.10858560e-01 -4.33680133e-01 8.45747302e-01 1.61899288e+02] [ 1.77693608e-01 9.00661676e-01 3.96526829e-01 -6.65992161e+01] [-9.33697990e-01 2.70201301e-02 3.57040579e-01 -5.45006829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.91, Y:-66.60, Z:-54.52 [[ 3.09557088e-01 -4.38728124e-01 8.43618422e-01 1.61911126e+02] [ 1.76489496e-01 8.98290582e-01 4.02399662e-01 -6.65975655e+01] [-9.34358532e-01 2.43241230e-02 3.55503122e-01 -5.45244991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54361786499996 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:161.92, Y:-66.60, Z:-54.55 [[ 3.08980701e-01 -4.42847219e-01 8.41675274e-01 1.61922545e+02] [ 1.74139876e-01 8.96360407e-01 4.07692685e-01 -6.65962083e+01] [-9.34989963e-01 2.06000560e-02 3.54075426e-01 -5.45505686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.94, Y:-66.59, Z:-54.57 [[ 3.13075204e-01 -4.54948912e-01 8.33669841e-01 1.61941330e+02] [ 1.77914380e-01 8.90352921e-01 4.19068191e-01 -6.65946395e+01] [-9.32914996e-01 1.71219934e-02 3.59689376e-01 -5.45743173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:161.92, Y:-66.58, Z:-54.61 [[ 3.05603182e-01 -4.18247747e-01 8.55380335e-01 1.61920230e+02] [ 1.73829710e-01 9.07768308e-01 3.81758996e-01 -6.65765250e+01] [-9.36156999e-01 3.20237516e-02 3.50120768e-01 -5.46095106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.95, Y:-66.58, Z:-54.64 [[ 3.08783803e-01 -4.47357782e-01 8.39359028e-01 1.61950185e+02] [ 1.72534728e-01 8.94188569e-01 4.13108425e-01 -6.65836612e+01] [-9.35352517e-01 1.72573905e-02 3.53295700e-01 -5.46353961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.96, Y:-66.58, Z:-54.67 [[ 3.10321430e-01 -4.46215352e-01 8.39400065e-01 1.61960586e+02] [ 1.71401549e-01 8.94783792e-01 4.12290522e-01 -6.65777919e+01] [-9.35051934e-01 1.59318868e-02 3.54152588e-01 -5.46657247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:-66.57, Z:-54.70 [[ 3.08163652e-01 -4.45069976e-01 8.40801927e-01 1.61968455e+02] [ 1.68740002e-01 8.95372170e-01 4.12111015e-01 -6.65720699e+01] [-9.36248885e-01 1.48792839e-02 3.51022266e-01 -5.46963822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.98, Y:-66.57, Z:-54.73 [[ 3.09249547e-01 -4.43468104e-01 8.41249522e-01 1.61975357e+02] [ 1.65707185e-01 8.96207970e-01 4.11524487e-01 -6.65669591e+01] [-9.36432510e-01 1.21373290e-02 3.50637760e-01 -5.47284282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.98, Y:-66.56, Z:-54.76 [[ 3.08788015e-01 -4.38704258e-01 8.43912635e-01 1.61980177e+02] [ 1.64792472e-01 8.98530757e-01 4.06799607e-01 -6.65595740e+01] [-9.36746179e-01 1.34556063e-02 3.49750688e-01 -5.47603081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.99, Y:-66.56, Z:-54.78 [[ 3.07664847e-01 -4.42157697e-01 8.42519384e-01 1.61990489e+02] [ 1.59463664e-01 8.96906395e-01 4.12468494e-01 -6.65572044e+01] [-9.38037143e-01 7.44917181e-03 3.46454655e-01 -5.47827131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81361786499997 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:162.02, Y:-66.55, Z:-54.81 [[ 3.11895816e-01 -4.59428967e-01 8.31652587e-01 1.62015966e+02] [ 1.60113999e-01 8.88213768e-01 4.30627227e-01 -6.65542731e+01] [-9.36527900e-01 -1.15160861e-03 3.50591167e-01 -5.48085155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:162.01, Y:-66.54, Z:-54.84 [[ 3.08183997e-01 -4.44376684e-01 8.41161094e-01 1.62008831e+02] [ 1.59794134e-01 8.95815666e-01 4.14704868e-01 -6.65430972e+01] [-9.37810460e-01 6.60720473e-03 3.47084840e-01 -5.48382238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:-66.54, Z:-54.86 [[ 3.07868672e-01 -4.47656252e-01 8.39536039e-01 1.62019216e+02] [ 1.55430625e-01 8.94204861e-01 4.19808275e-01 -6.65406030e+01] [-9.38647006e-01 1.24379516e-03 3.44877154e-01 -5.48627195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.04, Y:-66.54, Z:-54.89 [[ 3.09546855e-01 -4.58972781e-01 8.32781323e-01 1.62036295e+02] [ 1.56359247e-01 8.88443952e-01 4.31531146e-01 -6.65390424e+01] [-9.37940580e-01 -3.36604858e-03 3.46779669e-01 -5.48942355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:-66.53, Z:-54.92 [[ 3.13769388e-01 -4.57844631e-01 8.31821534e-01 1.62053788e+02] [ 1.55620449e-01 8.89014156e-01 4.30622928e-01 -6.65330057e+01] [-9.36659515e-01 -5.66785236e-03 3.50195415e-01 -5.49227526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.04, Y:-66.52, Z:-54.96 [[ 3.11139137e-01 -4.36060987e-01 8.44418885e-01 1.62044682e+02] [ 1.57108926e-01 8.99896524e-01 4.06820639e-01 -6.65189170e+01] [-9.37288228e-01 6.08792203e-03 3.48502101e-01 -5.49588136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.05, Y:-66.51, Z:-54.99 [[ 3.12314749e-01 -4.32393136e-01 8.45869773e-01 1.62051644e+02] [ 1.58312963e-01 9.01647717e-01 4.02452979e-01 -6.65106591e+01] [-9.36694456e-01 8.22014913e-03 3.50051319e-01 -5.49895504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.07, Y:-66.51, Z:-55.02 [[ 3.12052458e-01 -4.40527441e-01 8.41759370e-01 1.62066611e+02] [ 1.57909494e-01 8.97727456e-01 4.11278502e-01 -6.65084440e+01] [-9.36849964e-01 4.58132853e-03 3.49701524e-01 -5.50176758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.08, Y:-66.50, Z:-55.05 [[ 3.10976943e-01 -4.41784441e-01 8.41498573e-01 1.62076707e+02] [ 1.57789692e-01 8.97110200e-01 4.12668998e-01 -6.65035483e+01] [-9.37227696e-01 4.44925705e-03 3.48689618e-01 -5.50474239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:-66.50, Z:-55.08 [[ 3.13148852e-01 -4.41403494e-01 8.40892830e-01 1.62088599e+02] [ 1.59617985e-01 8.97292841e-01 4.11567317e-01 -6.64971045e+01] [-9.36194368e-01 5.33978670e-03 3.51442160e-01 -5.50770599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.10, Y:-66.49, Z:-55.11 [[ 3.10196927e-01 -4.41311698e-01 8.42034353e-01 1.62097805e+02] [ 1.60134816e-01 8.97324544e-01 4.11297342e-01 -6.64913232e+01] [-9.37088420e-01 7.25584434e-03 3.49016684e-01 -5.51068854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:-66.49, Z:-55.14 [[ 3.09895909e-01 -4.40947534e-01 8.42335917e-01 1.62106499e+02] [ 1.60771627e-01 8.97495811e-01 4.10674753e-01 -6.64857481e+01] [-9.37078977e-01 8.15728947e-03 3.49022133e-01 -5.51377929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:-66.48, Z:-55.17 [[ 3.08638421e-01 -4.38263916e-01 8.44196106e-01 1.62112288e+02] [ 1.63441813e-01 8.98760643e-01 4.06836675e-01 -6.64786723e+01] [-9.37032069e-01 1.24115126e-02 3.49022715e-01 -5.51666466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:-66.48, Z:-55.19 [[ 3.08697031e-01 -4.54333324e-01 8.35635910e-01 1.62135717e+02] [ 1.62514288e-01 8.90818711e-01 4.24300755e-01 -6.64806992e+01] [-9.37174076e-01 4.82239154e-03 3.48828747e-01 -5.51918803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-66.47, Z:-55.22 [[ 3.05443163e-01 -4.36817379e-01 8.46105816e-01 1.62128566e+02] [ 1.65000039e-01 8.99408384e-01 4.04770979e-01 -6.64657529e+01] [-9.37805663e-01 1.59729645e-02 3.46793027e-01 -5.52206585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:-66.46, Z:-55.25 [[ 3.09088148e-01 -4.35548156e-01 8.45436172e-01 1.62139588e+02] [ 1.66197601e-01 9.00023668e-01 4.02909115e-01 -6.64615015e+01] [-9.36398886e-01 1.59750313e-02 3.50573708e-01 -5.52474885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.15, Y:-66.46, Z:-55.27 [[ 3.07889130e-01 -4.39758941e-01 8.43692098e-01 1.62147588e+02] [ 1.68892316e-01 8.97947946e-01 4.06404813e-01 -6.64563384e+01] [-9.36311737e-01 1.73654879e-02 3.50740318e-01 -5.52733843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:-66.45, Z:-55.30 [[ 3.05890755e-01 -4.47805277e-01 8.40179314e-01 1.62164235e+02] [ 1.67290348e-01 8.94030306e-01 4.15600470e-01 -6.64536309e+01] [-9.37253853e-01 1.34255483e-02 3.48389106e-01 -5.53015167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:-66.45, Z:-55.33 [[ 3.05444566e-01 -4.45658342e-01 8.41482180e-01 1.62171250e+02] [ 1.68083380e-01 8.95072684e-01 4.13028894e-01 -6.64462650e+01] [-9.37257486e-01 1.52817376e-02 3.48302848e-01 -5.53322081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:-66.44, Z:-55.36 [[ 3.09008890e-01 -4.44562744e-01 8.40760056e-01 1.62183112e+02] [ 1.67734436e-01 8.95642434e-01 4.11934206e-01 -6.64395396e+01] [-9.36150984e-01 1.37330825e-02 3.51329956e-01 -5.53619274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:-66.43, Z:-55.39 [[ 3.06869219e-01 -4.44171974e-01 8.41749690e-01 1.62189716e+02] [ 1.67533121e-01 8.95820864e-01 4.11628027e-01 -6.64335947e+01] [-9.36890568e-01 1.47049820e-02 3.49313366e-01 -5.53934244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-66.42, Z:-55.42 [[ 3.09781424e-01 -4.39168381e-01 8.43306944e-01 1.62195218e+02] [ 1.69686903e-01 8.98234306e-01 4.05439868e-01 -6.64241756e+01] [-9.35543598e-01 1.75004044e-02 3.52777425e-01 -5.54248388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-66.42, Z:-55.45 [[ 3.09126781e-01 -4.40512368e-01 8.42846064e-01 1.62206024e+02] [ 1.69329938e-01 8.97587481e-01 4.07018532e-01 -6.64185650e+01] [-9.35824773e-01 1.68987431e-02 3.52060261e-01 -5.54539638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50361786499997 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:162.21, Y:-66.41, Z:-55.48 [[ 3.08537517e-01 -4.38718229e-01 8.43996989e-01 1.62213206e+02] [ 1.69255265e-01 8.98447427e-01 4.05147968e-01 -6.64118747e+01] [-9.36032722e-01 1.78475861e-02 3.51460108e-01 -5.54799992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:-66.41, Z:-55.51 [[ 3.08445977e-01 -4.43186297e-01 8.41692928e-01 1.62225972e+02] [ 1.69971140e-01 8.96273733e-01 4.09637898e-01 -6.64064913e+01] [-9.35933166e-01 1.67123447e-02 3.51780908e-01 -5.55050581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:-66.40, Z:-55.54 [[ 3.09257024e-01 -4.45077890e-01 8.40396195e-01 1.62236152e+02] [ 1.71495641e-01 8.95330477e-01 4.11062746e-01 -6.63990541e+01] [-9.35387266e-01 1.70002429e-02 3.53216157e-01 -5.55358109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-66.39, Z:-55.57 [[ 3.10935502e-01 -4.44538292e-01 8.40062391e-01 1.62247185e+02] [ 1.72530854e-01 8.95590182e-01 4.10062593e-01 -6.63923395e+01] [-9.34640154e-01 1.74336636e-02 3.55167354e-01 -5.55650020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.25, Y:-66.39, Z:-55.60 [[ 3.07325082e-01 -4.44581069e-01 8.41367320e-01 1.62252792e+02] [ 1.73233475e-01 8.95520317e-01 4.09918926e-01 -6.63858012e+01] [-9.35703723e-01 1.97746168e-02 3.52232178e-01 -5.55976287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:-66.38, Z:-55.63 [[ 3.08372905e-01 -4.43746483e-01 8.41424512e-01 1.62262385e+02] [ 1.72849582e-01 8.95945189e-01 4.09151854e-01 -6.63777408e+01] [-9.35429940e-01 1.92685290e-02 3.52986615e-01 -5.56280260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:-66.37, Z:-55.66 [[ 3.06200014e-01 -4.43012450e-01 8.42604012e-01 1.62270982e+02] [ 1.71494590e-01 8.96307941e-01 4.08927475e-01 -6.63706285e+01] [-9.36392630e-01 1.92884309e-02 3.50423742e-01 -5.56589657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-66.37, Z:-55.68 [[ 3.11277318e-01 -4.70499417e-01 8.25673501e-01 1.62308813e+02] [ 1.71180660e-01 8.82386633e-01 4.38281887e-01 -6.63742475e+01] [-9.34774632e-01 4.91212412e-03 3.55207345e-01 -5.56835439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:-66.34, Z:-55.72 [[ 3.09852184e-01 -4.00436688e-01 8.62346846e-01 1.62267368e+02] [ 1.72763448e-01 9.15598050e-01 3.63088147e-01 -6.63382957e+01] [-9.34956906e-01 3.64783589e-02 3.52880878e-01 -5.57221192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:-66.35, Z:-55.75 [[ 3.05154785e-01 -4.42497632e-01 8.43253463e-01 1.62296658e+02] [ 1.72315407e-01 8.96529048e-01 4.08096883e-01 -6.63501958e+01] [-9.36583129e-01 2.07728470e-02 3.49829289e-01 -5.57491675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-66.34, Z:-55.78 [[ 3.08601374e-01 -4.41331631e-01 8.42609983e-01 1.62308675e+02] [ 1.71788943e-01 8.97139548e-01 4.06975662e-01 -6.63436514e+01] [-9.35549972e-01 1.91578299e-02 3.52674392e-01 -5.57784335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:-66.34, Z:-55.81 [[ 3.08596938e-01 -4.40928973e-01 8.42822383e-01 1.62317957e+02] [ 1.72379185e-01 8.97321485e-01 4.06324463e-01 -6.63354145e+01] [-9.35442861e-01 1.98945499e-02 3.52917640e-01 -5.58089354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-66.33, Z:-55.84 [[ 3.11523289e-01 -4.40443678e-01 8.41999173e-01 1.62327040e+02] [ 1.74018336e-01 8.97550271e-01 4.05118662e-01 -6.63290255e+01] [-9.34168539e-01 2.03193965e-02 3.56253088e-01 -5.58400355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:-66.32, Z:-55.87 [[ 3.09984454e-01 -4.39883032e-01 8.42859749e-01 1.62335422e+02] [ 1.73584894e-01 8.97813004e-01 4.04722243e-01 -6.63227269e+01] [-9.34760891e-01 2.08501171e-02 3.54665124e-01 -5.58698125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:-66.31, Z:-55.90 [[ 3.09197990e-01 -4.39803686e-01 8.43189967e-01 1.62345207e+02] [ 1.74321721e-01 8.97825571e-01 4.04377523e-01 -6.63135961e+01] [-9.34884239e-01 2.19536087e-02 3.54273197e-01 -5.58999380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-66.31, Z:-55.93 [[ 3.10112082e-01 -4.39206482e-01 8.43165561e-01 1.62355324e+02] [ 1.74811083e-01 8.98110468e-01 4.03532741e-01 -6.63063414e+01] [-9.34490012e-01 2.22543066e-02 3.55293068e-01 -5.59307628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:-66.30, Z:-55.96 [[ 3.10182832e-01 -4.38534633e-01 8.43489174e-01 1.62365630e+02] [ 1.74704664e-01 8.98435029e-01 4.02855779e-01 -6.63010622e+01] [-9.34486432e-01 2.24025466e-02 3.55293167e-01 -5.59621678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-66.29, Z:-55.99 [[ 3.10754147e-01 -4.38306468e-01 8.43397475e-01 1.62375834e+02] [ 1.75099100e-01 8.98541021e-01 4.02447932e-01 -6.62926750e+01] [-9.34222760e-01 2.26157750e-02 3.55972417e-01 -5.59923759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-66.29, Z:-56.02 [[ 3.08791325e-01 -4.37944012e-01 8.44306200e-01 1.62382761e+02] [ 1.75268999e-01 8.98686324e-01 4.02049337e-01 -6.62864229e+01] [-9.34841535e-01 2.38313547e-02 3.54264549e-01 -5.60238164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-66.29, Z:-56.05 [[ 3.08839860e-01 -4.55845073e-01 8.34759373e-01 1.62407030e+02] [ 1.74716433e-01 8.89920240e-01 4.21326636e-01 -6.62868405e+01] [-9.34928932e-01 1.57237207e-02 3.54486468e-01 -5.60500274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:-66.27, Z:-56.09 [[ 3.12286651e-01 -4.21778047e-01 8.51222842e-01 1.62397759e+02] [ 1.76544566e-01 9.06193239e-01 3.84247094e-01 -6.62659518e+01] [-9.33439374e-01 3.02835290e-02 3.57454674e-01 -5.60853986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:-66.25, Z:-56.12 [[ 3.10191987e-01 -4.08766776e-01 8.58306853e-01 1.62395329e+02] [ 1.77647679e-01 9.11860556e-01 3.70069762e-01 -6.62523141e+01] [-9.33928388e-01 3.76835454e-02 3.55468307e-01 -5.61167575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:-66.26, Z:-56.14 [[ 3.09690316e-01 -4.36177149e-01 8.44891356e-01 1.62419127e+02] [ 1.78249662e-01 8.99454695e-01 3.99009161e-01 -6.62573362e+01] [-9.33980174e-01 2.70323252e-02 3.56300838e-01 -5.61440020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:-66.25, Z:-56.18 [[ 3.07921533e-01 -4.28990986e-01 8.49206137e-01 1.62422470e+02] [ 1.77484815e-01 9.02806986e-01 3.91712504e-01 -6.62453984e+01] [-9.34710367e-01 3.01044791e-02 3.54133097e-01 -5.61756291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:-66.24, Z:-56.21 [[ 3.06755477e-01 -4.30788480e-01 8.48718071e-01 1.62431287e+02] [ 1.76396613e-01 9.01992407e-01 3.94073512e-01 -6.62394779e+01] [-9.35299584e-01 2.88267848e-02 3.52680739e-01 -5.62061155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:-66.23, Z:-56.24 [[ 3.05596327e-01 -4.33007077e-01 8.48006932e-01 1.62439779e+02] [ 1.75415921e-01 9.00971483e-01 3.96837047e-01 -6.62337458e+01] [-9.35863313e-01 2.74819730e-02 3.51289911e-01 -5.62372074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:-66.23, Z:-56.27 [[ 3.05713056e-01 -4.40882295e-01 8.43897108e-01 1.62452845e+02] [ 1.74014031e-01 8.97274968e-01 4.05729896e-01 -6.62303137e+01] [-9.36086879e-01 2.28130111e-02 3.51028378e-01 -5.62663143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:-66.22, Z:-56.30 [[ 3.05960560e-01 -4.36356111e-01 8.46156889e-01 1.62455797e+02] [ 1.72650650e-01 8.99473094e-01 4.01422355e-01 -6.62203593e+01] [-9.36258452e-01 2.32701278e-02 3.50540458e-01 -5.62970623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:-66.22, Z:-56.33 [[ 3.04461781e-01 -4.40546946e-01 8.44524371e-01 1.62466196e+02] [ 1.70512879e-01 8.97502862e-01 4.06711164e-01 -6.62157904e+01] [-9.37138401e-01 2.01742764e-02 3.48374248e-01 -5.63269009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:-66.22, Z:-56.35 [[ 3.10450383e-01 -4.57357126e-01 8.33333678e-01 1.62490934e+02] [ 1.69648407e-01 8.89232547e-01 4.24835139e-01 -6.62171067e+01] [-9.35328808e-01 9.48349937e-03 3.53652492e-01 -5.63543694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:-66.20, Z:-56.39 [[ 3.07617710e-01 -4.26123748e-01 8.50758424e-01 1.62476888e+02] [ 1.68920063e-01 9.04368493e-01 3.91897487e-01 -6.61965763e+01] [-9.36395940e-01 2.31555591e-02 3.50180615e-01 -5.63886570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:-66.20, Z:-56.42 [[ 3.04593180e-01 -4.46697470e-01 8.41239778e-01 1.62493545e+02] [ 1.68893853e-01 8.94541543e-01 4.13848153e-01 -6.61997952e+01] [-9.37388853e-01 1.60249020e-02 3.47915710e-01 -5.64151736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:-66.20, Z:-56.44 [[ 3.05714139e-01 -4.66385755e-01 8.30074209e-01 1.62516395e+02] [ 1.68679117e-01 8.84553189e-01 4.34871258e-01 -6.62025950e+01] [-9.37062549e-01 7.06989243e-03 3.49089954e-01 -5.64436368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:-66.20, Z:-56.47 [[ 3.14728097e-01 -4.90327311e-01 8.12727109e-01 1.62558168e+02] [ 1.68136362e-01 8.71498482e-01 4.60674027e-01 -6.62044823e+01] [-9.34171499e-01 -8.33808088e-03 3.56726909e-01 -5.64658149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:-66.17, Z:-56.50 [[ 3.16829332e-01 -4.26036702e-01 8.47414835e-01 1.62533618e+02] [ 1.68802354e-01 9.04507053e-01 3.91628339e-01 -6.61712615e+01] [-9.33340741e-01 1.89662740e-02 3.58490364e-01 -5.65040057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:-66.17, Z:-56.54 [[ 3.16289437e-01 -4.26058778e-01 8.47605398e-01 1.62543964e+02] [ 1.67694382e-01 9.04513898e-01 3.92088258e-01 -6.61650089e+01] [-9.33723506e-01 1.81252887e-02 3.57535855e-01 -5.65351390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-66.16, Z:-56.57 [[ 3.16431420e-01 -4.25200822e-01 8.47983147e-01 1.62554000e+02] [ 1.66933584e-01 9.04926215e-01 3.91461011e-01 -6.61589391e+01] [-9.33811724e-01 1.76863028e-02 3.57327384e-01 -5.65657201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61361786499995 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:162.56, Y:-66.15, Z:-56.59 [[ 3.17150041e-01 -4.21931585e-01 8.49346566e-01 1.62560573e+02] [ 1.66321179e-01 9.06445995e-01 3.88191864e-01 -6.61527401e+01] [-9.33677202e-01 1.81492570e-02 3.57655543e-01 -5.65918120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:-66.15, Z:-56.62 [[ 3.16659449e-01 -4.29334735e-01 8.45812319e-01 1.62572768e+02] [ 1.66201320e-01 9.03018687e-01 3.96149432e-01 -6.61506892e+01] [-9.33865041e-01 1.51306628e-02 3.57305400e-01 -5.66173186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-66.14, Z:-56.65 [[ 3.17636318e-01 -4.24971030e-01 8.47647801e-01 1.62580699e+02] [ 1.65242293e-01 9.05072440e-01 3.91840353e-01 -6.61430537e+01] [-9.33703462e-01 1.56045390e-02 3.57707064e-01 -5.66483439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:-66.14, Z:-56.68 [[ 3.18222339e-01 -4.24251314e-01 8.47788514e-01 1.62590589e+02] [ 1.65102320e-01 9.05411648e-01 3.91115036e-01 -6.61374001e+01] [-9.33528664e-01 1.55103087e-02 3.58167089e-01 -5.66786217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-66.13, Z:-56.71 [[ 3.13221301e-01 -4.05445090e-01 8.58782100e-01 1.62580972e+02] [ 1.64117027e-01 9.13789377e-01 3.71556961e-01 -6.61258073e+01] [-9.35391906e-01 2.45612103e-02 3.52758740e-01 -5.67142660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:-66.14, Z:-56.74 [[ 3.18804499e-01 -4.45996232e-01 8.36331903e-01 1.62619761e+02] [ 1.64444738e-01 8.95018838e-01 4.14607294e-01 -6.61378024e+01] [-9.33446099e-01 5.35170998e-03 3.58677765e-01 -5.67363161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79361786499996 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:162.61, Y:-66.12, Z:-56.77 [[ 3.23363630e-01 -4.09139216e-01 8.53253224e-01 1.62610661e+02] [ 1.67564126e-01 9.12205086e-01 3.73903926e-01 -6.61152079e+01] [-9.31320689e-01 2.20677000e-02 3.63531003e-01 -5.67679319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:-66.12, Z:-56.79 [[ 3.24352708e-01 -4.25719157e-01 8.44723931e-01 1.62629004e+02] [ 1.66615741e-01 9.04753148e-01 3.91996093e-01 -6.61185698e+01] [-9.31146882e-01 1.35993092e-02 3.64390646e-01 -5.67911127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:-66.13, Z:-56.82 [[ 3.18541508e-01 -4.50931469e-01 8.33781817e-01 1.62651991e+02] [ 1.65268577e-01 8.92548946e-01 4.19574400e-01 -6.61250166e+01] [-9.33390382e-01 4.14607242e-03 3.58838689e-01 -5.68166518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:-66.10, Z:-56.86 [[ 3.18191160e-01 -3.96433508e-01 8.61159021e-01 1.62625350e+02] [ 1.65289600e-01 9.17655766e-01 3.61368571e-01 -6.60985201e+01] [-9.33506151e-01 2.73563451e-02 3.57516288e-01 -5.68550482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:-66.12, Z:-56.88 [[ 3.22380946e-01 -4.48822131e-01 8.33444192e-01 1.62672242e+02] [ 1.66763755e-01 8.93609032e-01 4.16716628e-01 -6.61151810e+01] [-9.31804902e-01 4.64678230e-03 3.62929789e-01 -5.68775094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-66.11, Z:-56.91 [[ 3.18502455e-01 -4.41443972e-01 8.38858394e-01 1.62679145e+02] [ 1.65421886e-01 8.97249663e-01 4.09363703e-01 -6.61076886e+01] [-9.33376551e-01 8.38219359e-03 3.58800715e-01 -5.69074880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-66.09, Z:-56.94 [[ 3.18855852e-01 -4.22307766e-01 8.48520534e-01 1.62679706e+02] [ 1.65492924e-01 9.06303627e-01 3.88877652e-01 -6.60947367e+01] [-9.33243290e-01 1.64282296e-02 3.58869162e-01 -5.69402575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.69, Y:-66.09, Z:-56.97 [[ 3.19527812e-01 -4.21473172e-01 8.48682710e-01 1.62690041e+02] [ 1.64977190e-01 9.06700037e-01 3.88172089e-01 -6.60902088e+01] [-9.33104766e-01 1.59815103e-02 3.59249339e-01 -5.69711850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-66.09, Z:-57.00 [[ 3.19545477e-01 -4.20641371e-01 8.49088644e-01 1.62700788e+02] [ 1.64228394e-01 9.07092909e-01 3.87571271e-01 -6.60865659e+01] [-9.33230798e-01 1.55978173e-02 3.58938693e-01 -5.70020268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:-66.08, Z:-57.03 [[ 3.19873309e-01 -4.19867230e-01 8.49348324e-01 1.62711513e+02] [ 1.63846025e-01 9.07454739e-01 3.86885484e-01 -6.60823447e+01] [-9.33185698e-01 1.54080065e-02 3.59064127e-01 -5.70319219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:-66.08, Z:-57.06 [[ 3.20028159e-01 -4.19062800e-01 8.49687205e-01 1.62722344e+02] [ 1.63148771e-01 9.07833317e-01 3.86291530e-01 -6.60780874e+01] [-9.33254765e-01 1.50012561e-02 3.58901806e-01 -5.70628502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-66.07, Z:-57.09 [[ 3.20448664e-01 -4.18160497e-01 8.49973207e-01 1.62733420e+02] [ 1.62312156e-01 9.08259293e-01 3.85642089e-01 -6.60739281e+01] [-9.33256351e-01 1.43824916e-02 3.58923009e-01 -5.70935732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:-66.07, Z:-57.12 [[ 3.20354838e-01 -4.17241128e-01 8.50460240e-01 1.62744221e+02] [ 1.61267784e-01 9.08691110e-01 3.85062550e-01 -6.60702500e+01] [-9.33469592e-01 1.37951876e-02 3.58391145e-01 -5.71230052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:-66.06, Z:-57.15 [[ 3.24595732e-01 -4.00206902e-01 8.57013446e-01 1.62745188e+02] [ 1.62083208e-01 9.16207502e-01 3.66459885e-01 -6.60594594e+01] [-9.31861924e-01 1.99561744e-02 3.62263863e-01 -5.71507423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:-66.07, Z:-57.17 [[ 3.19757465e-01 -4.39269391e-01 8.39522225e-01 1.62775173e+02] [ 1.60608879e-01 8.98346060e-01 4.08875464e-01 -6.60732090e+01] [-9.33787959e-01 4.09374137e-03 3.57803423e-01 -5.71738941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:-66.06, Z:-57.21 [[ 3.22546550e-01 -4.07126224e-01 8.54524406e-01 1.62766866e+02] [ 1.61305584e-01 9.13211025e-01 3.74200659e-01 -6.60581964e+01] [-9.32708010e-01 1.71424269e-02 3.60224799e-01 -5.72088486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:-66.06, Z:-57.23 [[ 3.19899880e-01 -4.28266963e-01 8.45133998e-01 1.62791400e+02] [ 1.60955335e-01 9.03607070e-01 3.96973101e-01 -6.60627772e+01] [-9.33679520e-01 9.03717794e-03 3.57995646e-01 -5.72342354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:-66.05, Z:-57.27 [[ 3.19816383e-01 -4.17019999e-01 8.50771298e-01 1.62796153e+02] [ 1.61572713e-01 9.08782877e-01 3.84718002e-01 -6.60545002e+01] [-9.33601489e-01 1.44223072e-02 3.58022705e-01 -5.72661530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:-66.05, Z:-57.30 [[ 3.19652514e-01 -4.16741210e-01 8.50969467e-01 1.62806715e+02] [ 1.62603155e-01 9.08891049e-01 3.84027701e-01 -6.60509464e+01] [-9.33478701e-01 1.56149001e-02 3.58292744e-01 -5.72966251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499995 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:162.81, Y:-66.05, Z:-57.32 [[ 3.22138456e-01 -4.08170004e-01 8.54180346e-01 1.62811741e+02] [ 1.65201216e-01 9.12671432e-01 3.73817355e-01 -6.60461697e+01] [-9.32167031e-01 2.06906868e-02 3.61436747e-01 -5.73219594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:-66.06, Z:-57.35 [[ 3.17477200e-01 -4.45557360e-01 8.37070407e-01 1.62840671e+02] [ 1.66744599e-01 8.95214221e-01 4.13264731e-01 -6.60585773e+01] [-9.33490475e-01 8.37483987e-03 3.58504388e-01 -5.73458295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:-66.03, Z:-57.38 [[ 3.23612590e-01 -3.97243759e-01 8.58762067e-01 1.62825097e+02] [ 1.71378291e-01 9.17197078e-01 3.59692927e-01 -6.60341642e+01] [-9.30539829e-01 3.07720157e-02 3.64895478e-01 -5.73834604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:-66.05, Z:-57.41 [[ 3.16474861e-01 -4.38530107e-01 8.41151002e-01 1.62858336e+02] [ 1.69397399e-01 8.98601184e-01 4.04747369e-01 -6.60489360e+01] [-9.33353194e-01 1.43964241e-02 3.58670544e-01 -5.74077193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499996 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:162.85, Y:-66.04, Z:-57.43 [[ 3.20546753e-01 -4.11569853e-01 8.53147136e-01 1.62853461e+02] [ 1.71922372e-01 9.10992622e-01 3.74880168e-01 -6.60368820e+01] [-9.31500122e-01 2.65084590e-02 3.62773792e-01 -5.74333992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:-66.05, Z:-57.46 [[ 3.17744036e-01 -4.53373172e-01 8.32761367e-01 1.62885034e+02] [ 1.72164479e-01 8.91263937e-01 4.19533057e-01 -6.60525396e+01] [-9.32415208e-01 1.00678000e-02 3.61248557e-01 -5.74588362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:-66.02, Z:-57.50 [[ 3.23967159e-01 -3.96954250e-01 8.58762251e-01 1.62866530e+02] [ 1.79567085e-01 9.17016759e-01 3.56140318e-01 -6.60221167e+01] [-9.28870789e-01 3.88276666e-02 3.68363231e-01 -5.74954120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-66.04, Z:-57.52 [[ 3.14811973e-01 -4.35017179e-01 8.43595564e-01 1.62896197e+02] [ 1.74250383e-01 9.00169352e-01 3.99164054e-01 -6.60358713e+01] [-9.33022093e-01 2.13352268e-02 3.59185999e-01 -5.75160255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-66.03, Z:-57.55 [[ 3.15127921e-01 -4.22250031e-01 8.49940765e-01 1.62900516e+02] [ 1.74012663e-01 9.06095541e-01 3.85629957e-01 -6.60260197e+01] [-9.32959799e-01 2.63776894e-02 3.59012857e-01 -5.75486006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:-66.02, Z:-57.58 [[ 3.15129767e-01 -4.21509146e-01 8.50307750e-01 1.62911010e+02] [ 1.73554522e-01 9.06444294e-01 3.85016324e-01 -6.60214453e+01] [-9.33044510e-01 2.62446505e-02 3.58802398e-01 -5.75791831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:-66.03, Z:-57.61 [[ 3.18881925e-01 -4.36319018e-01 8.41391723e-01 1.62936565e+02] [ 1.71009731e-01 8.99653574e-01 4.01720201e-01 -6.60258778e+01] [-9.32239234e-01 1.57848610e-02 3.61498061e-01 -5.76101551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-66.00, Z:-57.65 [[ 3.19924347e-01 -3.97530422e-01 8.60010451e-01 1.62927457e+02] [ 1.70271174e-01 9.17062391e-01 3.60561090e-01 -6.60042902e+01] [-9.32017242e-01 3.10827178e-02 3.61078558e-01 -5.76452656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:-65.99, Z:-57.67 [[ 3.16111983e-01 -3.72040568e-01 8.72730789e-01 1.62918117e+02] [ 1.70182171e-01 9.27217154e-01 3.33626105e-01 -6.59868561e+01] [-9.33333404e-01 4.30600102e-02 3.56419125e-01 -5.76740340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.95, Y:-66.00, Z:-57.70 [[ 3.16386395e-01 -4.18326576e-01 8.51412077e-01 1.62953646e+02] [ 1.66300072e-01 9.08076903e-01 3.84370425e-01 -6.60030263e+01] [-9.33940006e-01 1.99803169e-02 3.56870917e-01 -5.76994502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-66.00, Z:-57.73 [[ 3.17030164e-01 -4.17033455e-01 8.51806887e-01 1.62963555e+02] [ 1.64215616e-01 9.08708649e-01 3.83773140e-01 -6.59977447e+01] [-9.34090524e-01 1.82123311e-02 3.56571458e-01 -5.77302543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:-65.99, Z:-57.76 [[ 3.17945754e-01 -4.15705499e-01 8.52114684e-01 1.62973692e+02] [ 1.62119477e-01 9.09352715e-01 3.83138245e-01 -6.59924155e+01] [-9.34145477e-01 1.63272084e-02 3.56518793e-01 -5.77611576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:-65.99, Z:-57.79 [[ 3.18914125e-01 -4.13860821e-01 8.52650574e-01 1.62983569e+02] [ 1.58338658e-01 9.10247443e-01 3.82594382e-01 -6.59872617e+01] [-9.34463830e-01 1.29927952e-02 3.55820934e-01 -5.77912901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:-65.98, Z:-57.82 [[ 3.18970932e-01 -4.13255255e-01 8.52922997e-01 1.62994229e+02] [ 1.58234824e-01 9.10520716e-01 3.81986606e-01 -6.59821933e+01] [-9.34462030e-01 1.31194965e-02 3.55821014e-01 -5.78226144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-65.98, Z:-57.85 [[ 3.19870847e-01 -4.12376459e-01 8.53011312e-01 1.63005239e+02] [ 1.56532331e-01 9.10941773e-01 3.81684051e-01 -6.59772403e+01] [-9.34441154e-01 1.14342483e-02 3.55933965e-01 -5.78532220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.02, Y:-65.97, Z:-57.88 [[ 3.20738722e-01 -4.11103374e-01 8.53299881e-01 1.63015480e+02] [ 1.54633869e-01 9.11536741e-01 3.81036922e-01 -6.59725563e+01] [-9.34459758e-01 9.73576600e-03 3.55935635e-01 -5.78834763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-65.97, Z:-57.91 [[ 3.22070893e-01 -4.09397001e-01 8.53618437e-01 1.63025726e+02] [ 1.51336837e-01 9.12332108e-01 3.80456682e-01 -6.59673440e+01] [-9.34541332e-01 6.64989097e-03 3.55792464e-01 -5.79142403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:-65.96, Z:-57.95 [[ 3.22744763e-01 -4.08165495e-01 8.53953597e-01 1.63036191e+02] [ 1.49483570e-01 9.12893927e-01 3.79841204e-01 -6.59621993e+01] [-9.34607126e-01 5.06027284e-03 3.55645770e-01 -5.79453635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:-65.96, Z:-57.98 [[ 3.23417020e-01 -4.06934158e-01 8.54286850e-01 1.63046734e+02] [ 1.47684021e-01 9.13450700e-01 3.79206077e-01 -6.59571254e+01] [-9.34660827e-01 3.52281781e-03 3.55523175e-01 -5.79762285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-65.95, Z:-58.01 [[ 3.24216981e-01 -4.05565086e-01 8.54634606e-01 1.63057381e+02] [ 1.45480686e-01 9.14064783e-01 3.78577524e-01 -6.59529285e+01] [-9.34729222e-01 1.59156651e-03 3.55357211e-01 -5.80061341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:-65.95, Z:-58.04 [[ 3.24192687e-01 -4.04797725e-01 8.55007546e-01 1.63067638e+02] [ 1.44804212e-01 9.14405389e-01 3.78013920e-01 -6.59487201e+01] [-9.34842683e-01 1.25934528e-03 3.55059956e-01 -5.80360840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:-65.94, Z:-58.07 [[ 3.24608230e-01 -4.04242510e-01 8.55112560e-01 1.63078881e+02] [ 1.44370781e-01 9.14651413e-01 3.77584256e-01 -6.59445351e+01] [-9.34765519e-01 8.86311059e-04 3.55264183e-01 -5.80670989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.09, Y:-65.94, Z:-58.10 [[ 3.24662691e-01 -4.03529203e-01 8.55428734e-01 1.63089101e+02] [ 1.44085840e-01 9.14966342e-01 3.76929520e-01 -6.59406172e+01] [-9.34790569e-01 8.80215710e-04 3.55198279e-01 -5.80970798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:-65.94, Z:-58.13 [[ 3.24386790e-01 -4.03134589e-01 8.55719413e-01 1.63100086e+02] [ 1.44584318e-01 9.15139212e-01 3.76318478e-01 -6.59372408e+01] [-9.34809384e-01 1.65086416e-03 3.55146011e-01 -5.81275946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:-65.93, Z:-58.16 [[ 3.24418006e-01 -4.02617338e-01 8.55951071e-01 1.63110901e+02] [ 1.44865067e-01 9.15365913e-01 3.75658565e-01 -6.59330872e+01] [-9.34755086e-01 2.12700667e-03 3.55286372e-01 -5.81588322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-65.93, Z:-58.19 [[ 3.24439136e-01 -4.02167863e-01 8.56154342e-01 1.63121248e+02] [ 1.45404917e-01 9.15561567e-01 3.74972569e-01 -6.59291055e+01] [-9.34663927e-01 2.83327453e-03 3.55521189e-01 -5.81891663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:-65.93, Z:-58.22 [[ 3.23525174e-01 -3.97638539e-01 8.58612284e-01 1.63127013e+02] [ 1.45658608e-01 9.17526565e-01 3.70038610e-01 -6.59255247e+01] [-9.34941192e-01 5.34746413e-03 3.54762417e-01 -5.82238156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:-65.92, Z:-58.25 [[ 3.24690391e-01 -3.93331762e-01 8.60154797e-01 1.63138381e+02] [ 1.47247277e-01 9.19360031e-01 3.64822385e-01 -6.59193343e+01] [-9.34288172e-01 8.20112892e-03 3.56424399e-01 -5.82500616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:-65.92, Z:-58.28 [[ 3.24761810e-01 -4.01736261e-01 8.56234631e-01 1.63154034e+02] [ 1.48135543e-01 9.15738592e-01 3.73468462e-01 -6.59192761e+01] [-9.34122919e-01 5.55048820e-03 3.56908342e-01 -5.82796898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35361786499996 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:163.16, Y:-65.91, Z:-58.31 [[ 3.26783487e-01 -3.91357267e-01 8.60262775e-01 1.63159714e+02] [ 1.52318067e-01 9.20144862e-01 3.60739018e-01 -6.59111174e+01] [-9.32744209e-01 1.31500088e-02 3.60298929e-01 -5.83089311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:-65.91, Z:-58.33 [[ 3.24808028e-01 -4.03134343e-01 8.55559727e-01 1.63174111e+02] [ 1.52210285e-01 9.15097132e-01 3.73402287e-01 -6.59144430e+01] [-9.33451538e-01 8.94092940e-03 3.58592088e-01 -5.83334487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:-65.91, Z:-58.36 [[ 3.23675809e-01 -4.04548199e-01 8.55321417e-01 1.63186686e+02] [ 1.52353382e-01 9.14472643e-01 3.74870955e-01 -6.59107712e+01] [-9.33821406e-01 8.97445071e-03 3.57626958e-01 -5.83621619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-65.91, Z:-58.39 [[ 3.22428081e-01 -4.04599108e-01 8.55768482e-01 1.63198143e+02] [ 1.53977440e-01 9.14427052e-01 3.74318201e-01 -6.59079616e+01] [-9.33986660e-01 1.10783412e-02 3.57136094e-01 -5.83920414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:-65.90, Z:-58.42 [[ 3.22070533e-01 -4.04650154e-01 8.55878978e-01 1.63208833e+02] [ 1.55268620e-01 9.14386487e-01 3.73883684e-01 -6.59046292e+01] [-9.33896261e-01 1.24742305e-02 3.57326414e-01 -5.84204340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:-65.90, Z:-58.45 [[ 3.22072603e-01 -4.04925023e-01 8.55748190e-01 1.63220241e+02] [ 1.56304366e-01 9.14252098e-01 3.73780747e-01 -6.59016462e+01] [-9.33722755e-01 1.33726397e-02 3.57747102e-01 -5.84502924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:-65.90, Z:-58.48 [[ 3.21458734e-01 -4.05467117e-01 8.55722326e-01 1.63230816e+02] [ 1.58351855e-01 9.13979680e-01 3.73585110e-01 -6.58999788e+01] [-9.33589295e-01 1.54130215e-02 3.58013221e-01 -5.84774220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56361786499997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:163.24, Y:-65.89, Z:-58.51 [[ 3.23808883e-01 -3.96490399e-01 8.59036187e-01 1.63235570e+02] [ 1.60905023e-01 9.17805635e-01 3.62963344e-01 -6.58927657e+01] [-9.32339735e-01 2.06924824e-02 3.60990915e-01 -5.85064056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-65.90, Z:-58.53 [[ 3.22752469e-01 -4.08208797e-01 8.53929986e-01 1.63251527e+02] [ 1.60822261e-01 9.12746177e-01 3.75540434e-01 -6.58951859e+01] [-9.32720239e-01 1.61243486e-02 3.60240144e-01 -5.85300146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:-65.89, Z:-58.56 [[ 3.21114086e-01 -4.13155543e-01 8.52166792e-01 1.63264890e+02] [ 1.60782195e-01 9.10541658e-01 3.80871337e-01 -6.58948811e+01] [-9.33292467e-01 1.47100959e-02 3.58815808e-01 -5.85566160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:-65.88, Z:-58.59 [[ 3.19219566e-01 -3.93378987e-01 8.62178544e-01 1.63257911e+02] [ 1.61279987e-01 9.19056388e-01 3.59616631e-01 -6.58848207e+01] [-9.33856325e-01 2.42554793e-02 3.56824939e-01 -5.85932167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:-65.89, Z:-58.62 [[ 3.21534574e-01 -4.20522639e-01 8.48396268e-01 1.63292655e+02] [ 1.60553393e-01 9.07213021e-01 3.88827909e-01 -6.58912149e+01] [-9.33187080e-01 1.11912837e-02 3.59216688e-01 -5.86156834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-65.88, Z:-58.65 [[ 3.21579553e-01 -4.06775025e-01 8.55055946e-01 1.63296179e+02] [ 1.60334913e-01 9.13374715e-01 3.74218312e-01 -6.58822481e+01] [-9.33209144e-01 1.67543631e-02 3.58942871e-01 -5.86469627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-65.88, Z:-58.68 [[ 3.21391662e-01 -4.02041890e-01 8.57362070e-01 1.63301579e+02] [ 1.59738890e-01 9.15439714e-01 3.69396287e-01 -6.58801600e+01] [-9.33376069e-01 1.82331791e-02 3.58436417e-01 -5.86791577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:-65.89, Z:-58.70 [[ 3.27048490e-01 -4.26437720e-01 8.43320909e-01 1.63337637e+02] [ 1.59763080e-01 9.04500741e-01 3.95416449e-01 -6.58856045e+01] [-9.31404876e-01 5.41119351e-03 3.63944606e-01 -5.87047283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499995 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:163.31, Y:-65.85, Z:-58.74 [[ 3.28209243e-01 -3.61968362e-01 8.72500772e-01 1.63311787e+02] [ 1.60449888e-01 9.31607761e-01 3.26133121e-01 -6.58531030e+01] [-9.30878363e-01 3.29527464e-02 3.63840062e-01 -5.87390593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83361786499995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.35, Y:-65.87, Z:-58.76 [[ 3.25518850e-01 -4.06407242e-01 8.53739206e-01 1.63346354e+02] [ 1.58466261e-01 9.13593942e-01 3.74479041e-01 -6.58710497e+01] [-9.32161962e-01 1.33888729e-02 3.61793885e-01 -5.87591849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:-65.87, Z:-58.79 [[ 3.25098834e-01 -4.01654383e-01 8.56145143e-01 1.63353061e+02] [ 1.57489057e-01 9.15674646e-01 3.69779854e-01 -6.58680113e+01] [-9.32474099e-01 1.46184915e-02 3.60940929e-01 -5.87916314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89361786499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.36, Y:-65.86, Z:-58.82 [[ 3.24950840e-01 -4.01307531e-01 8.56363951e-01 1.63364969e+02] [ 1.56722793e-01 9.15835227e-01 3.69707727e-01 -6.58644108e+01] [-9.32654769e-01 1.40749133e-02 3.60495464e-01 -5.88244013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.37, Y:-65.86, Z:-58.85 [[ 3.24869855e-01 -3.85465478e-01 8.63641096e-01 1.63366741e+02] [ 1.53484174e-01 9.22555476e-01 3.54025426e-01 -6.58553886e+01] [-9.33221402e-01 1.75430515e-02 3.58873315e-01 -5.88536745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.39, Y:-65.86, Z:-58.88 [[ 3.26839998e-01 -3.98198596e-01 8.57095965e-01 1.63386505e+02] [ 1.54917989e-01 9.17209745e-01 3.67051358e-01 -6.58569148e+01] [-9.32296108e-01 1.28125188e-02 3.61468957e-01 -5.88848017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.39, Y:-65.85, Z:-58.92 [[ 3.27393605e-01 -3.87485121e-01 8.61782286e-01 1.63391796e+02] [ 1.53615005e-01 9.21740506e-01 3.56085482e-01 -6.58487792e+01] [-9.32317466e-01 1.58025806e-02 3.61295476e-01 -5.89171765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01361786499996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.41, Y:-65.84, Z:-58.94 [[ 3.30795520e-01 -3.86342494e-01 8.60995819e-01 1.63406315e+02] [ 1.51404879e-01 9.22267874e-01 3.55666320e-01 -6.58435178e+01] [-9.31477797e-01 1.27061428e-02 3.63576220e-01 -5.89427495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:-65.85, Z:-58.98 [[ 3.29687465e-01 -3.98130914e-01 8.56036185e-01 1.63423046e+02] [ 1.49621578e-01 9.17306101e-01 3.69002576e-01 -6.58469142e+01] [-9.32158548e-01 6.42596050e-03 3.61993299e-01 -5.89753423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-65.83, Z:-59.00 [[ 3.32042911e-01 -3.82379343e-01 8.62283911e-01 1.63426726e+02] [ 1.49226150e-01 9.23931203e-01 3.52253727e-01 -6.58348488e+01] [-9.31385560e-01 1.17119553e-02 3.63845803e-01 -5.90033459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10361786499996 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:163.44, Y:-65.83, Z:-59.03 [[ 3.34395475e-01 -3.88064073e-01 8.58828237e-01 1.63441452e+02] [ 1.50000365e-01 9.21587420e-01 3.58017483e-01 -6.58337660e+01] [-9.30419022e-01 9.10512294e-03 3.66384416e-01 -5.90306653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.46, Y:-65.83, Z:-59.06 [[ 3.34459214e-01 -3.96356430e-01 8.55007962e-01 1.63456000e+02] [ 1.50728582e-01 9.18075436e-01 3.66631134e-01 -6.58339711e+01] [-9.30278415e-01 6.25097625e-03 3.66801031e-01 -5.90580866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.48, Y:-65.83, Z:-59.09 [[ 3.41885135e-01 -4.03776682e-01 8.48574655e-01 1.63482703e+02] [ 1.52236004e-01 9.14856620e-01 3.73980701e-01 -6.58318007e+01] [-9.27328827e-01 1.32517202e-03 3.74245227e-01 -5.90876417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19361786499996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:163.45, Y:-65.80, Z:-59.12 [[ 3.32537099e-01 -3.41812210e-01 8.78967287e-01 1.63445822e+02] [ 1.50761844e-01 9.39288804e-01 3.08232718e-01 -6.58020506e+01] [-9.30961838e-01 3.00159149e-02 3.63880613e-01 -5.91228061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:-65.82, Z:-59.15 [[ 3.30668306e-01 -3.89776648e-01 8.59495571e-01 1.63481690e+02] [ 1.55124716e-01 9.20787489e-01 3.57892053e-01 -6.58187960e+01] [-9.30910734e-01 1.49854474e-02 3.64939231e-01 -5.91502562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:-65.82, Z:-59.17 [[ 3.33768223e-01 -3.93177291e-01 8.56744064e-01 1.63500562e+02] [ 1.53480414e-01 9.19401313e-01 3.62139459e-01 -6.58165275e+01] [-9.30076629e-01 1.06227896e-02 3.67211956e-01 -5.91742912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-65.82, Z:-59.20 [[ 3.33531368e-01 -4.07506084e-01 8.50115062e-01 1.63519572e+02] [ 1.55524410e-01 9.13178884e-01 3.76718042e-01 -6.58183985e+01] [-9.29822018e-01 6.56635927e-03 3.67950946e-01 -5.92042070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-65.81, Z:-59.24 [[ 3.29879090e-01 -3.87140367e-01 8.60989037e-01 1.63515674e+02] [ 1.55223041e-01 9.21872717e-01 3.55044366e-01 -6.58062478e+01] [-9.31174309e-01 1.65236240e-02 3.64199638e-01 -5.92359562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-65.81, Z:-59.26 [[ 3.30556165e-01 -4.04312323e-01 8.52797847e-01 1.63539632e+02] [ 1.56411368e-01 9.14565216e-01 3.72969100e-01 -6.58105781e+01] [-9.30735250e-01 1.01000426e-02 3.65554214e-01 -5.92626596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-65.80, Z:-59.30 [[ 3.33000889e-01 -3.92411805e-01 8.57393365e-01 1.63543370e+02] [ 1.60789963e-01 9.19603550e-01 3.58435347e-01 -6.58010301e+01] [-9.29116244e-01 1.85009585e-02 3.69324680e-01 -5.92991581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:-65.80, Z:-59.32 [[ 3.29746871e-01 -3.92315629e-01 8.58694037e-01 1.63553601e+02] [ 1.59124706e-01 9.19649783e-01 3.59059334e-01 -6.57983626e+01] [-9.30562372e-01 1.82407441e-02 3.65678747e-01 -5.93237555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.57, Y:-65.80, Z:-59.35 [[ 3.27801067e-01 -4.01346713e-01 8.55258602e-01 1.63566485e+02] [ 1.59175129e-01 9.15799080e-01 3.68748321e-01 -6.57982884e+01] [-9.31240967e-01 1.52598047e-02 3.64084330e-01 -5.93524049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:-65.80, Z:-59.38 [[ 3.29553476e-01 -4.10183111e-01 8.50378928e-01 1.63583057e+02] [ 1.59762419e-01 9.11933174e-01 3.77960125e-01 -6.57985027e+01] [-9.30521615e-01 1.13005214e-02 3.66062593e-01 -5.93810649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.59, Y:-65.79, Z:-59.41 [[ 3.29410518e-01 -4.08239939e-01 8.51368817e-01 1.63592491e+02] [ 1.60418137e-01 9.12784336e-01 3.75620523e-01 -6.57935689e+01] [-9.30459420e-01 1.28416486e-02 3.66169852e-01 -5.94128185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:-65.79, Z:-59.44 [[ 3.29027324e-01 -4.00818888e-01 8.55035227e-01 1.63597226e+02] [ 1.60732288e-01 9.16008757e-01 3.67550117e-01 -6.57874300e+01] [-9.30540785e-01 1.64977369e-02 3.65816447e-01 -5.94426676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:-65.79, Z:-59.47 [[ 3.29276614e-01 -4.17119014e-01 8.47106038e-01 1.63619776e+02] [ 1.59527395e-01 9.08814862e-01 3.85495209e-01 -6.57901648e+01] [-9.30659939e-01 8.20206180e-03 3.65793390e-01 -5.94696600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:-65.78, Z:-59.50 [[ 3.30166361e-01 -4.10227666e-01 8.50119660e-01 1.63627007e+02] [ 1.58889449e-01 9.11926568e-01 3.78343863e-01 -6.57839233e+01] [-9.30453823e-01 1.01586277e-02 3.66268324e-01 -5.95006127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:-65.78, Z:-59.53 [[ 3.31808308e-01 -4.15789727e-01 8.46771604e-01 1.63644515e+02] [ 1.58614265e-01 9.09435646e-01 3.84406452e-01 -6.57832843e+01] [-9.29916535e-01 6.76080093e-03 3.67708485e-01 -5.95285296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-65.78, Z:-59.56 [[ 3.31196854e-01 -4.08415628e-01 8.50591159e-01 1.63653289e+02] [ 1.58972435e-01 9.12734839e-01 3.76354725e-01 -6.57759157e+01] [-9.30073335e-01 1.05730472e-02 3.67221734e-01 -5.95601466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:163.66, Y:-65.77, Z:-59.59 [[ 3.31296540e-01 -3.99551183e-01 8.54752277e-01 1.63660642e+02] [ 1.58776864e-01 9.16601596e-01 3.66921546e-01 -6.57690125e+01] [-9.30071239e-01 1.41550474e-02 3.67106422e-01 -5.95923425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:-65.76, Z:-59.62 [[ 3.29116129e-01 -3.94435652e-01 8.57964504e-01 1.63666419e+02] [ 1.59575405e-01 9.18746381e-01 3.61165860e-01 -6.57629432e+01] [-9.30708474e-01 1.80445235e-02 3.65316481e-01 -5.96237053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-65.76, Z:-59.66 [[ 3.31349712e-01 -3.89274990e-01 8.59460500e-01 1.63676300e+02] [ 1.60191619e-01 9.20905858e-01 3.55346374e-01 -6.57570450e+01] [-9.29809665e-01 1.99344499e-02 3.67500482e-01 -5.96551090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:-65.76, Z:-59.68 [[ 3.30215875e-01 -3.96256206e-01 8.56702104e-01 1.63693389e+02] [ 1.59161232e-01 9.17993487e-01 3.63257017e-01 -6.57555164e+01] [-9.30389799e-01 1.64005286e-02 3.66204649e-01 -5.96830416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-65.75, Z:-59.72 [[ 3.30296747e-01 -3.90510422e-01 8.59305341e-01 1.63701201e+02] [ 1.59143496e-01 9.20406491e-01 3.57106763e-01 -6.57483904e+01] [-9.30364126e-01 1.88016536e-02 3.66154463e-01 -5.97150807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82361786499996 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:163.70, Y:-65.73, Z:-59.74 [[ 3.36563599e-01 -3.69937606e-01 8.65950987e-01 1.63701898e+02] [ 1.64583289e-01 9.28554461e-01 3.32714524e-01 -6.57320985e+01] [-9.27166266e-01 3.05414638e-02 3.73403179e-01 -5.97414765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.75, Y:-65.76, Z:-59.76 [[ 3.28014416e-01 -4.39291972e-01 8.36318783e-01 1.63752186e+02] [ 1.59096497e-01 8.98343466e-01 4.09472004e-01 -6.57593400e+01] [-9.31179278e-01 -1.25733145e-03 3.64559421e-01 -5.97604918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-65.72, Z:-59.81 [[ 3.26337344e-01 -3.44114426e-01 8.80391504e-01 1.63695062e+02] [ 1.60288010e-01 9.38038454e-01 3.07232179e-01 -6.57170506e+01] [-9.31564110e-01 4.08548690e-02 3.61274394e-01 -5.98062449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:-65.72, Z:-59.83 [[ 3.28198995e-01 -3.68469403e-01 8.69779120e-01 1.63716928e+02] [ 1.62083476e-01 9.29093386e-01 3.32437104e-01 -6.57232317e+01] [-9.30598929e-01 3.18712997e-02 3.64650318e-01 -5.98338516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:-65.73, Z:-59.86 [[ 3.28753183e-01 -3.91975003e-01 8.59230436e-01 1.63742532e+02] [ 1.62064912e-01 9.19719870e-01 3.57561640e-01 -6.57287288e+01] [-9.30406529e-01 2.17015775e-02 3.65886229e-01 -5.98559380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:-65.72, Z:-59.88 [[ 3.24826118e-01 -3.86075063e-01 8.63385220e-01 1.63744170e+02] [ 1.59180409e-01 9.22182100e-01 3.52479463e-01 -6.57236237e+01] [-9.32281926e-01 2.29394768e-02 3.61004418e-01 -5.98807450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:-65.73, Z:-59.90 [[ 3.22578816e-01 -4.13910764e-01 8.51246608e-01 1.63771883e+02] [ 1.58921580e-01 9.10239202e-01 3.82372236e-01 -6.57301938e+01] [-9.33106017e-01 1.19362731e-02 3.59403237e-01 -5.99043468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:163.76, Y:-65.71, Z:-59.95 [[ 3.27715386e-01 -3.73221779e-01 8.67933252e-01 1.63757901e+02] [ 1.62653959e-01 9.27236320e-01 3.37307717e-01 -6.57080776e+01] [-9.30669821e-01 3.06318511e-02 3.64575609e-01 -5.99457658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-65.71, Z:-59.97 [[ 3.26981391e-01 -3.86296823e-01 8.62471991e-01 1.63777093e+02] [ 1.60989014e-01 9.22068304e-01 3.51955366e-01 -6.57093077e+01] [-9.31217325e-01 2.37656606e-02 3.63688722e-01 -5.99718619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-65.70, Z:-60.00 [[ 3.28114089e-01 -3.80200260e-01 8.64747886e-01 1.63784597e+02] [ 1.63191627e-01 9.24478120e-01 3.44541286e-01 -6.57014413e+01] [-9.30435187e-01 2.80707645e-02 3.65379796e-01 -6.00045770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.80, Y:-65.70, Z:-60.03 [[ 3.24809091e-01 -3.83003487e-01 8.64758569e-01 1.63797219e+02] [ 1.59738556e-01 9.23414407e-01 3.48983420e-01 -6.56995250e+01] [-9.32192388e-01 2.47822975e-02 3.61113818e-01 -6.00273451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:-65.70, Z:-60.06 [[ 3.24297867e-01 -3.89944154e-01 8.61843634e-01 1.63812351e+02] [ 1.60602504e-01 9.20552726e-01 3.56075153e-01 -6.56974040e+01] [-9.32221931e-01 2.29398332e-02 3.61159293e-01 -6.00573330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.82, Y:-65.69, Z:-60.09 [[ 3.23645721e-01 -3.86796463e-01 8.63505613e-01 1.63820801e+02] [ 1.61161202e-01 9.21824180e-01 3.52515600e-01 -6.56919509e+01] [-9.32352141e-01 2.50734364e-02 3.60681035e-01 -6.00869995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.84, Y:-65.69, Z:-60.11 [[ 3.21105652e-01 -3.96710565e-01 8.59948771e-01 1.63836445e+02] [ 1.60613728e-01 9.17693392e-01 3.63375934e-01 -6.56913301e+01] [-9.33324376e-01 2.14375115e-02 3.58393697e-01 -6.01133784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:-65.69, Z:-60.14 [[ 3.21122524e-01 -3.96283361e-01 8.60139420e-01 1.63847317e+02] [ 1.60884629e-01 9.17867629e-01 3.62815589e-01 -6.56859659e+01] [-9.33271911e-01 2.18749541e-02 3.58503871e-01 -6.01442825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:-65.68, Z:-60.18 [[ 3.22227085e-01 -3.94682222e-01 8.60462463e-01 1.63857511e+02] [ 1.61319222e-01 9.18541821e-01 3.60911391e-01 -6.56796342e+01] [-9.32816067e-01 2.25137099e-02 3.59648882e-01 -6.01758813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-65.67, Z:-60.20 [[ 3.20858811e-01 -3.94703475e-01 8.60963873e-01 1.63866454e+02] [ 1.60326816e-01 9.18542902e-01 3.61350591e-01 -6.56749093e+01] [-9.33458588e-01 2.20930757e-02 3.58004134e-01 -6.02046416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-65.67, Z:-60.24 [[ 3.20549911e-01 -3.91201076e-01 8.62675763e-01 1.63871324e+02] [ 1.60449061e-01 9.19997574e-01 3.57575953e-01 -6.56691448e+01] [-9.33543707e-01 2.37945757e-02 3.57672986e-01 -6.02361433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-65.68, Z:-60.26 [[ 3.20514191e-01 -4.20491642e-01 8.48797639e-01 1.63902261e+02] [ 1.58805040e-01 9.07241742e-01 3.89478346e-01 -6.56764640e+01] [-9.33837037e-01 9.96000587e-03 3.57560045e-01 -6.02602518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.91, Y:-65.67, Z:-60.29 [[ 3.21525780e-01 -4.12672220e-01 8.52245746e-01 1.63909442e+02] [ 1.57659420e-01 9.10804615e-01 3.81547455e-01 -6.56682752e+01] [-9.33683394e-01 1.16872266e-02 3.57908827e-01 -6.02907143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:-65.66, Z:-60.32 [[ 3.24384709e-01 -3.99335097e-01 8.57499878e-01 1.63908993e+02] [ 1.57493613e-01 9.16667140e-01 3.67310654e-01 -6.56586350e+01] [-9.32721997e-01 1.59007942e-02 3.60245530e-01 -6.03202291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45361786499996 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:163.93, Y:-65.66, Z:-60.35 [[ 3.21133545e-01 -4.13854608e-01 8.51820175e-01 1.63926368e+02] [ 1.56452218e-01 9.10286007e-01 3.83278083e-01 -6.56614574e+01] [-9.34021386e-01 1.01857064e-02 3.57071843e-01 -6.03509521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.93, Y:-65.65, Z:-60.38 [[ 3.26546679e-01 -3.96661549e-01 8.57920091e-01 1.63927646e+02] [ 1.58668931e-01 9.17802331e-01 3.63954738e-01 -6.56478235e+01] [-9.31767909e-01 1.72770525e-02 3.62643167e-01 -6.03759778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.94, Y:-65.65, Z:-60.41 [[ 3.24061384e-01 -4.09340320e-01 8.52891976e-01 1.63944191e+02] [ 1.58059425e-01 9.12297800e-01 3.77796165e-01 -6.56479439e+01] [-9.32738676e-01 1.23784675e-02 3.60340583e-01 -6.04051660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:-65.64, Z:-60.43 [[ 3.25177361e-01 -4.09800144e-01 8.52246165e-01 1.63956805e+02] [ 1.57118406e-01 9.12111643e-01 3.78637238e-01 -6.56433462e+01] [-9.32509244e-01 1.07793013e-02 3.60985203e-01 -6.04347106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57361786499996 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:163.97, Y:-65.64, Z:-60.46 [[ 3.26289076e-01 -4.13345384e-01 8.50106483e-01 1.63971261e+02] [ 1.56525097e-01 9.10537324e-01 3.82650853e-01 -6.56405708e+01] [-9.32220646e-01 8.20820647e-03 3.61797308e-01 -6.04596032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:163.96, Y:-65.62, Z:-60.50 [[ 3.28376850e-01 -3.88953684e-01 8.60746000e-01 1.63964877e+02] [ 1.65172455e-01 9.20884204e-01 3.53115197e-01 -6.56207710e+01] [-9.29992852e-01 2.62166734e-02 3.66641489e-01 -6.04962423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63361786499996 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:163.98, Y:-65.62, Z:-60.52 [[ 3.29398352e-01 -3.93328781e-01 8.58364256e-01 1.63979280e+02] [ 1.60633702e-01 9.19192250e-01 3.59558648e-01 -6.56222026e+01] [-9.30426536e-01 1.94442021e-02 3.65962270e-01 -6.05168262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:-65.62, Z:-60.54 [[ 3.23197488e-01 -4.06870338e-01 8.54400323e-01 1.63990882e+02] [ 1.60552819e-01 9.13341657e-01 3.74205572e-01 -6.56249149e+01] [-9.32612554e-01 1.62340794e-02 3.60513909e-01 -6.05425750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-65.63, Z:-60.57 [[ 3.22639147e-01 -4.21341211e-01 8.47570390e-01 1.64010935e+02] [ 1.60018697e-01 9.06848901e-01 3.89896252e-01 -6.56264554e+01] [-9.32897635e-01 9.83131556e-03 3.60007427e-01 -6.05686917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:164.01, Y:-65.62, Z:-60.60 [[ 3.23204391e-01 -4.09070760e-01 8.53346375e-01 1.64012293e+02] [ 1.60981075e-01 9.12367231e-01 3.76392255e-01 -6.56179484e+01] [-9.32536334e-01 1.57209875e-02 3.60733746e-01 -6.06009566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:-65.62, Z:-60.63 [[ 3.20886713e-01 -4.14972654e-01 8.51369141e-01 1.64025151e+02] [ 1.61514067e-01 9.09714192e-01 3.82535352e-01 -6.56152966e+01] [-9.33244300e-01 1.47575806e-02 3.58939118e-01 -6.06309269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78361786499997 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:164.05, Y:-65.62, Z:-60.65 [[ 3.22060892e-01 -4.30156860e-01 8.43351562e-01 1.64048414e+02] [ 1.60598626e-01 9.02727771e-01 3.99112330e-01 -6.56174982e+01] [-9.32997783e-01 6.90262962e-03 3.59815912e-01 -6.06492671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:-65.61, Z:-60.68 [[ 3.20284156e-01 -4.25592025e-01 8.46338873e-01 1.64051050e+02] [ 1.62334826e-01 9.04844179e-01 3.93578984e-01 -6.56118224e+01] [-9.33308879e-01 1.13331609e-02 3.58895661e-01 -6.06809497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:-65.60, Z:-60.72 [[ 3.19182226e-01 -4.10948423e-01 8.53957903e-01 1.64051239e+02] [ 1.62901026e-01 9.11469985e-01 3.77737637e-01 -6.56011086e+01] [-9.33587683e-01 1.85434786e-02 3.57868938e-01 -6.07153554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:164.07, Y:-65.60, Z:-60.74 [[ 3.20984195e-01 -4.25106632e-01 8.46317611e-01 1.64072527e+02] [ 1.60855737e-01 9.05090340e-01 3.93620259e-01 -6.56033557e+01] [-9.33324477e-01 9.78916115e-03 3.58900534e-01 -6.07395828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90361786499997 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:164.09, Y:-65.60, Z:-60.76 [[ 3.24226732e-01 -4.33401891e-01 8.40856603e-01 1.64093020e+02] [ 1.63650769e-01 9.01169824e-01 4.01386813e-01 -6.55982475e+01] [-9.31716401e-01 7.46649470e-03 3.63109900e-01 -6.07636609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.09, Y:-65.59, Z:-60.80 [[ 3.21278158e-01 -4.18164391e-01 8.49658100e-01 1.64086422e+02] [ 1.62536024e-01 9.08259864e-01 3.85546443e-01 -6.55900674e+01] [-9.32932144e-01 1.42323979e-02 3.59770834e-01 -6.07957316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499995 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:164.08, Y:-65.58, Z:-60.83 [[ 3.25135189e-01 -3.93284729e-01 8.60008274e-01 1.64080017e+02] [ 1.64544228e-01 9.19074535e-01 3.58088253e-01 -6.55753946e+01] [-9.31242346e-01 2.50823060e-02 3.63536204e-01 -6.08273644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-65.59, Z:-60.84 [[ 3.22005974e-01 -4.46283233e-01 8.34951154e-01 1.64123919e+02] [ 1.62287325e-01 8.94890277e-01 4.15733347e-01 -6.55912500e+01] [-9.32724492e-01 1.63336751e-03 3.60586127e-01 -6.08428102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-65.58, Z:-60.88 [[ 3.22714200e-01 -4.17578365e-01 8.49402057e-01 1.64117183e+02] [ 1.62625216e-01 9.08534073e-01 3.84862155e-01 -6.55754014e+01] [-9.32420819e-01 1.39337109e-02 3.61105618e-01 -6.08792296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:-65.57, Z:-60.91 [[ 3.24787026e-01 -4.16191198e-01 8.49292808e-01 1.64131424e+02] [ 1.61666587e-01 9.09188768e-01 3.83718254e-01 -6.55698039e+01] [-9.31867642e-01 1.26755590e-02 3.62576926e-01 -6.09102072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.13, Y:-65.56, Z:-60.94 [[ 3.24999040e-01 -3.97949112e-01 8.57911492e-01 1.64129697e+02] [ 1.60619972e-01 9.17204430e-01 3.64605620e-01 -6.55582357e+01] [-9.31974704e-01 1.93012439e-02 3.62009134e-01 -6.09405825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:-65.56, Z:-60.97 [[ 3.24080893e-01 -4.16817565e-01 8.49255375e-01 1.64152107e+02] [ 1.59968946e-01 9.08922818e-01 3.85057459e-01 -6.55607348e+01] [-9.32406302e-01 1.10647219e-02 3.61242385e-01 -6.09695285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.16, Y:-65.55, Z:-61.00 [[ 3.23908240e-01 -4.09558994e-01 8.52845169e-01 1.64158040e+02] [ 1.59942388e-01 9.12173206e-01 3.77304222e-01 -6.55523625e+01] [-9.32470849e-01 1.41941471e-02 3.60966261e-01 -6.10029123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.16, Y:-65.55, Z:-61.03 [[ 3.23658544e-01 -4.06679533e-01 8.54316630e-01 1.64164288e+02] [ 1.56348215e-01 9.13492074e-01 3.75616116e-01 -6.55473579e+01] [-9.33166857e-01 1.19995145e-02 3.59243134e-01 -6.10277600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-65.55, Z:-61.06 [[ 3.24904937e-01 -4.36739209e-01 8.38865690e-01 1.64196879e+02] [ 1.55868228e-01 8.99586357e-01 4.07982209e-01 -6.55538054e+01] [-9.32813956e-01 -1.80292484e-03 3.60353815e-01 -6.10551325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:-65.54, Z:-61.09 [[ 3.26982859e-01 -4.06036657e-01 8.53355988e-01 1.64188653e+02] [ 1.57480506e-01 9.13778654e-01 3.74444204e-01 -6.55368768e+01] [-9.31816559e-01 1.19500964e-02 3.62732815e-01 -6.10923424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.21, Y:-65.54, Z:-61.12 [[ 3.26150188e-01 -4.18896084e-01 8.47438568e-01 1.64209203e+02] [ 1.56387085e-01 9.08015850e-01 3.88651896e-01 -6.55365767e+01] [-9.32292408e-01 5.76955820e-03 3.61659477e-01 -6.11210161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-65.52, Z:-61.15 [[ 3.24796199e-01 -3.92186797e-01 8.60637523e-01 1.64199834e+02] [ 1.56242786e-01 9.19719228e-01 3.60145435e-01 -6.55214278e+01] [-9.32789162e-01 1.74945364e-02 3.59997667e-01 -6.11544860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.23, Y:-65.52, Z:-61.18 [[ 3.27424047e-01 -4.11694781e-01 8.50470987e-01 1.64226183e+02] [ 1.55937924e-01 9.11288073e-01 3.81100264e-01 -6.55241577e+01] [-9.31921057e-01 7.83928952e-03 3.62576459e-01 -6.11820385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.23, Y:-65.51, Z:-61.21 [[ 3.31362771e-01 -3.96211195e-01 8.56279979e-01 1.64227684e+02] [ 1.54363641e-01 9.18091019e-01 3.65076358e-01 -6.55140356e+01] [-9.30790299e-01 1.12057815e-02 3.65381787e-01 -6.12097500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:164.25, Y:-65.52, Z:-61.24 [[ 3.31091137e-01 -4.14682948e-01 8.47594662e-01 1.64251426e+02] [ 1.54570271e-01 9.09958826e-01 3.84815497e-01 -6.55163724e+01] [-9.30852669e-01 3.60393587e-03 3.65376958e-01 -6.12370350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:164.26, Y:-65.51, Z:-61.27 [[ 3.33248890e-01 -4.10773012e-01 8.48652290e-01 1.64260865e+02] [ 1.55479326e-01 9.11722639e-01 3.80247300e-01 -6.55098288e+01] [-9.29930834e-01 5.23089523e-03 3.67697269e-01 -6.12708931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:-65.51, Z:-61.30 [[ 3.45675464e-01 -4.38487696e-01 8.29600514e-01 1.64309565e+02] [ 1.56678944e-01 8.98661756e-01 4.09705696e-01 -6.55140176e+01] [-9.25181162e-01 -1.16442745e-02 3.79347109e-01 -6.12961828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.24, Y:-65.47, Z:-61.34 [[ 3.27819762e-01 -3.43532033e-01 8.80068148e-01 1.64243649e+02] [ 1.55880350e-01 9.38445593e-01 3.08255065e-01 -6.54714504e+01] [-9.31791565e-01 3.61332286e-02 3.61190905e-01 -6.13438008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:-65.49, Z:-61.37 [[ 3.29541051e-01 -3.91571497e-01 8.59112599e-01 1.64284677e+02] [ 1.56671396e-01 9.20004754e-01 3.59228793e-01 -6.54861063e+01] [-9.31051432e-01 1.62177361e-02 3.64527387e-01 -6.13654551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.32, Y:-65.49, Z:-61.39 [[ 3.38801072e-01 -4.04725529e-01 8.49359217e-01 1.64316643e+02] [ 1.57810367e-01 9.14405437e-01 3.72771492e-01 -6.54861723e+01] [-9.27528825e-01 7.74230909e-03 3.73671427e-01 -6.13900116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.26, Y:-65.45, Z:-61.43 [[ 3.27692600e-01 -3.22193497e-01 8.88149149e-01 1.64260036e+02] [ 1.58776127e-01 9.45465288e-01 2.84403815e-01 -6.54480636e+01] [-9.31347251e-01 4.78198569e-02 3.60978614e-01 -6.14313391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.32, Y:-65.48, Z:-61.45 [[ 3.25227181e-01 -4.05965321e-01 8.54060559e-01 1.64319464e+02] [ 1.59712105e-01 9.13766641e-01 3.73527200e-01 -6.54780245e+01] [-9.32051138e-01 1.49226114e-02 3.62019325e-01 -6.14501175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62361786499997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:164.31, Y:-65.47, Z:-61.48 [[ 3.26006856e-01 -3.84912075e-01 8.63459452e-01 1.64314554e+02] [ 1.61907022e-01 9.22596740e-01 3.50144788e-01 -6.54653837e+01] [-9.31399832e-01 2.56505471e-02 3.63092830e-01 -6.14834249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:164.33, Y:-65.47, Z:-61.51 [[ 3.24140778e-01 -3.98169110e-01 8.58134090e-01 1.64333105e+02] [ 1.62093148e-01 9.17071236e-01 3.64288567e-01 -6.54671224e+01] [-9.32018544e-01 2.10168762e-02 3.61800668e-01 -6.15101495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:164.34, Y:-65.46, Z:-61.54 [[ 3.24106805e-01 -3.97762740e-01 8.58335355e-01 1.64343825e+02] [ 1.62044879e-01 9.17244392e-01 3.63873855e-01 -6.54619736e+01] [-9.32038752e-01 2.11548561e-02 3.61740564e-01 -6.15414356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:-65.46, Z:-61.57 [[ 3.26763960e-01 -4.02909685e-01 8.54920523e-01 1.64360305e+02] [ 1.63187300e-01 9.15042957e-01 3.68871648e-01 -6.54594135e+01] [-9.30910962e-01 1.89782113e-02 3.64752803e-01 -6.15693613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.35, Y:-65.45, Z:-61.60 [[ 3.23559159e-01 -3.83528256e-01 8.64994536e-01 1.64353317e+02] [ 1.63532897e-01 9.23079335e-01 3.48111380e-01 -6.54475430e+01] [-9.31969132e-01 2.88204367e-02 3.61390260e-01 -6.15954088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:-65.46, Z:-61.62 [[ 3.23721678e-01 -4.23763483e-01 8.45948453e-01 1.64390601e+02] [ 1.64627869e-01 9.05682538e-01 3.90687606e-01 -6.54578505e+01] [-9.31719883e-01 1.27926437e-02 3.62952350e-01 -6.16249096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:164.37, Y:-65.43, Z:-61.66 [[ 3.31272689e-01 -3.78246297e-01 8.64400454e-01 1.64374843e+02] [ 1.67007836e-01 9.25170510e-01 3.40834139e-01 -6.54348880e+01] [-9.28637060e-01 3.14526076e-02 3.69653818e-01 -6.16600742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83361786499995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:164.39, Y:-65.44, Z:-61.68 [[ 3.27316322e-01 -3.91032113e-01 8.60208063e-01 1.64389072e+02] [ 1.65537938e-01 9.20006162e-01 3.55226482e-01 -6.54361576e+01] [-9.30301680e-01 2.61256438e-02 3.65863683e-01 -6.16840285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.41, Y:-65.44, Z:-61.72 [[ 3.22813800e-01 -4.11384094e-01 8.52381592e-01 1.64409554e+02] [ 1.66372593e-01 9.11238601e-01 3.76781598e-01 -6.54379016e+01] [-9.31724965e-01 2.01826362e-02 3.62603434e-01 -6.17156664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.40, Y:-65.42, Z:-61.75 [[ 3.23251579e-01 -3.87352152e-01 8.63404150e-01 1.64404665e+02] [ 1.65819007e-01 9.21456355e-01 3.51315020e-01 -6.54237727e+01] [-9.31671870e-01 2.96056842e-02 3.62092571e-01 -6.17480632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:164.41, Y:-65.42, Z:-61.77 [[ 3.23792822e-01 -3.80620480e-01 8.66190659e-01 1.64406374e+02] [ 1.65537642e-01 9.24179902e-01 3.44222019e-01 -6.54168669e+01] [-9.31533949e-01 3.19305403e-02 3.62249835e-01 -6.17745079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.44, Y:-65.42, Z:-61.79 [[ 3.25984189e-01 -4.13465298e-01 8.50165135e-01 1.64436935e+02] [ 1.66548207e-01 9.10340198e-01 3.78869923e-01 -6.54222594e+01] [-9.30589062e-01 1.80878743e-02 3.65618416e-01 -6.17922517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:164.46, Y:-65.42, Z:-61.82 [[ 3.22721091e-01 -4.29792346e-01 8.43285027e-01 1.64455840e+02] [ 1.64399195e-01 9.02867446e-01 3.97244609e-01 -6.54243752e+01] [-9.32107291e-01 1.04361663e-02 3.62031883e-01 -6.18167883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.44, Y:-65.41, Z:-61.86 [[ 3.17574895e-01 -4.00011336e-01 8.59730840e-01 1.64441304e+02] [ 1.61365130e-01 9.16239419e-01 3.66696907e-01 -6.54117697e+01] [-9.34402205e-01 2.22768473e-02 3.55522519e-01 -6.18581285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:164.45, Y:-65.41, Z:-61.89 [[ 3.17748738e-01 -3.95692841e-01 8.61662878e-01 1.64447648e+02] [ 1.58025418e-01 9.18149422e-01 3.63358785e-01 -6.54078737e+01] [-9.34913743e-01 2.07078407e-02 3.54270346e-01 -6.18871977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.47, Y:-65.40, Z:-61.90 [[ 3.22486297e-01 -4.08149420e-01 8.54058920e-01 1.64469201e+02] [ 1.58802254e-01 9.12803327e-01 3.76260454e-01 -6.54043662e+01] [-9.33158310e-01 1.42876410e-02 3.59181613e-01 -6.19044147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:164.48, Y:-65.40, Z:-61.93 [[ 3.22447778e-01 -4.15394576e-01 8.50573205e-01 1.64481760e+02] [ 1.56473570e-01 9.09596987e-01 3.84901732e-01 -6.54032008e+01] [-9.33564916e-01 8.98151788e-03 3.58295799e-01 -6.19288827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13361786499996 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:164.48, Y:-65.39, Z:-61.96 [[ 3.26015994e-01 -4.02617748e-01 8.55343511e-01 1.64484754e+02] [ 1.59053420e-01 9.15239354e-01 3.70187702e-01 -6.53918248e+01] [-9.31888181e-01 1.53581990e-02 3.62420397e-01 -6.19585057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.50, Y:-65.40, Z:-61.98 [[ 3.22070163e-01 -4.20540717e-01 8.48184128e-01 1.64502983e+02] [ 1.56101913e-01 9.07249528e-01 3.90551517e-01 -6.53957208e+01] [-9.33757465e-01 6.61817423e-03 3.57845214e-01 -6.19819395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.51, Y:-65.39, Z:-62.01 [[ 3.21761308e-01 -4.12433408e-01 8.52272459e-01 1.64506409e+02] [ 1.54894733e-01 9.10943414e-01 3.82347641e-01 -6.53885514e+01] [-9.34064924e-01 8.98783818e-03 3.56990107e-01 -6.20099573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:-65.39, Z:-62.04 [[ 3.21648813e-01 -4.16908365e-01 8.50134964e-01 1.64519022e+02] [ 1.54449808e-01 9.08923622e-01 3.87302344e-01 -6.53852337e+01] [-9.34177338e-01 6.72784252e-03 3.56745621e-01 -6.20399303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.53, Y:-65.38, Z:-62.07 [[ 3.21868338e-01 -4.16388380e-01 8.50306704e-01 1.64527778e+02] [ 1.54818788e-01 9.09158271e-01 3.86603648e-01 -6.53801725e+01] [-9.34040639e-01 7.20797930e-03 3.57094006e-01 -6.20706960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28361786499997 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:164.54, Y:-65.37, Z:-62.10 [[ 3.20943073e-01 -4.13576077e-01 8.52027213e-01 1.64535161e+02] [ 1.55426639e-01 9.10421179e-01 3.83374277e-01 -6.53738688e+01] [-9.34258050e-01 9.38640704e-03 3.56474111e-01 -6.20976466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:-65.37, Z:-62.12 [[ 3.19857688e-01 -4.20362444e-01 8.49109225e-01 1.64547390e+02] [ 1.54940510e-01 9.07332605e-01 3.90820908e-01 -6.53730092e+01] [-9.34710917e-01 6.55434425e-03 3.55348481e-01 -6.21230495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.55, Y:-65.37, Z:-62.15 [[ 3.19564863e-01 -4.14769545e-01 8.51965095e-01 1.64552645e+02] [ 1.56090310e-01 9.09870004e-01 3.84411746e-01 -6.53660832e+01] [-9.34619769e-01 1.01390090e-02 3.55503990e-01 -6.21512975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.56, Y:-65.36, Z:-62.18 [[ 3.18740429e-01 -4.19777052e-01 8.49818666e-01 1.64563617e+02] [ 1.55734210e-01 9.07591393e-01 3.89903474e-01 -6.53643265e+01] [-9.34960638e-01 8.06783831e-03 3.54659717e-01 -6.21755514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:-65.36, Z:-62.20 [[ 3.20334401e-01 -4.10428889e-01 8.53776317e-01 1.64565805e+02] [ 1.57511264e-01 9.11799927e-01 3.79224333e-01 -6.53558927e+01] [-9.34117805e-01 1.30007873e-02 3.56728057e-01 -6.22028019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-65.36, Z:-62.23 [[ 3.16470886e-01 -4.30921154e-01 8.45075817e-01 1.64586023e+02] [ 1.56744970e-01 9.02373320e-01 4.01439168e-01 -6.53600722e+01] [-9.35562501e-01 5.41757391e-03 3.53119608e-01 -6.22271166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-65.35, Z:-62.26 [[ 3.15618050e-01 -4.17288027e-01 8.52206518e-01 1.64585378e+02] [ 1.57235740e-01 9.08695806e-01 3.86715468e-01 -6.53506352e+01] [-9.35768224e-01 1.19429407e-02 3.52413390e-01 -6.22559107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:-65.35, Z:-62.28 [[ 3.23729627e-01 -4.35138043e-01 8.40151184e-01 1.64614909e+02] [ 1.59446126e-01 9.00359125e-01 4.04883167e-01 -6.53540358e+01] [-9.32617854e-01 2.88617480e-03 3.60853999e-01 -6.22821977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.58, Y:-65.33, Z:-62.32 [[ 3.16321789e-01 -3.83129617e-01 8.67843432e-01 1.64584995e+02] [ 1.58732393e-01 9.23296376e-01 3.49753955e-01 -6.53286121e+01] [-9.35277795e-01 2.71200676e-02 3.52873843e-01 -6.23190882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-65.32, Z:-62.34 [[ 3.15214545e-01 -3.87704060e-01 8.66213226e-01 1.64591292e+02] [ 1.61133987e-01 9.21356422e-01 3.53748755e-01 -6.53244911e+01] [-9.35240947e-01 2.80696378e-02 3.52897246e-01 -6.23401493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:164.62, Y:-65.33, Z:-62.37 [[ 3.18494161e-01 -4.17077404e-01 8.51239043e-01 1.64618967e+02] [ 1.65887486e-01 9.08668582e-01 3.83148471e-01 -6.53307099e+01] [-9.33296744e-01 1.91793542e-02 3.58593559e-01 -6.23662548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.64, Y:-65.34, Z:-62.39 [[ 3.12855137e-01 -4.41080604e-01 8.41171542e-01 1.64642600e+02] [ 1.63213757e-01 8.97421760e-01 4.09872485e-01 -6.53371862e+01] [-9.35672449e-01 9.06005545e-03 3.52753430e-01 -6.23882044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-65.33, Z:-62.42 [[ 3.12012238e-01 -4.26584000e-01 8.48925471e-01 1.64641617e+02] [ 1.65828034e-01 9.04268502e-01 3.93445726e-01 -6.53277684e+01] [-9.35494215e-01 1.80157602e-02 3.52882425e-01 -6.24160750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-65.33, Z:-62.45 [[ 3.12463733e-01 -4.39337256e-01 8.42228704e-01 1.64662803e+02] [ 1.64501555e-01 8.98252265e-01 4.07531724e-01 -6.53299672e+01] [-9.35577711e-01 1.12090475e-02 3.52942918e-01 -6.24470461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-65.30, Z:-62.48 [[ 3.11966275e-01 -3.88843421e-01 8.66878214e-01 1.64638130e+02] [ 1.66614623e-01 9.20664863e-01 3.53009601e-01 -6.53029320e+01] [-9.35369772e-01 3.43074965e-02 3.52003387e-01 -6.24801178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:-65.32, Z:-62.50 [[ 3.08657069e-01 -4.41818648e-01 8.42334314e-01 1.64680006e+02] [ 1.66615625e-01 8.96995598e-01 4.09436356e-01 -6.53190788e+01] [-9.36466789e-01 1.39706326e-02 3.50477922e-01 -6.25014783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.68, Y:-65.31, Z:-62.53 [[ 3.08063954e-01 -4.28834918e-01 8.49233309e-01 1.64681336e+02] [ 1.66921370e-01 9.03163423e-01 3.95516228e-01 -6.53084777e+01] [-9.36607632e-01 1.99108939e-02 3.49813807e-01 -6.25333288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:-65.30, Z:-62.56 [[ 3.07460235e-01 -4.28418369e-01 8.49662230e-01 1.64690090e+02] [ 1.67227357e-01 9.03344535e-01 3.94972989e-01 -6.53026656e+01] [-9.36751416e-01 2.06482808e-02 3.49385794e-01 -6.25621285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:-65.30, Z:-62.59 [[ 3.09054513e-01 -4.28250783e-01 8.49168166e-01 1.64698806e+02] [ 1.67262188e-01 9.03437781e-01 3.94744900e-01 -6.52983264e+01] [-9.36220417e-01 2.00360322e-02 3.50841686e-01 -6.25889690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.71, Y:-65.29, Z:-62.62 [[ 3.07646719e-01 -4.28859998e-01 8.49371885e-01 1.64708048e+02] [ 1.67382977e-01 9.03137586e-01 3.95380121e-01 -6.52932900e+01] [-9.36662391e-01 2.05329977e-02 3.49631179e-01 -6.26154010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:164.71, Y:-65.29, Z:-62.64 [[ 3.11249171e-01 -4.21350561e-01 8.51814333e-01 1.64711122e+02] [ 1.67310376e-01 9.06631916e-01 3.87331650e-01 -6.52862872e+01] [-9.35484469e-01 2.19607219e-02 3.52684753e-01 -6.26386941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.74, Y:-65.29, Z:-62.66 [[ 3.08483739e-01 -4.59444774e-01 8.32915531e-01 1.64743753e+02] [ 1.65238692e-01 8.88190094e-01 4.28735969e-01 -6.52947787e+01] [-9.36767825e-01 5.37179829e-03 3.49910255e-01 -6.26632528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.73, Y:-65.27, Z:-62.69 [[ 3.12050591e-01 -4.20598276e-01 8.51892903e-01 1.64727119e+02] [ 1.67407384e-01 9.06979872e-01 3.86474164e-01 -6.52738292e+01] [-9.35200083e-01 2.20136712e-02 3.53434863e-01 -6.26943752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.75, Y:-65.28, Z:-62.72 [[ 3.12320402e-01 -4.38716413e-01 8.42605409e-01 1.64751753e+02] [ 1.64008237e-01 8.98557479e-01 4.07057434e-01 -6.52768180e+01] [-9.35712170e-01 1.10618863e-02 3.52590939e-01 -6.27222245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.75, Y:-65.27, Z:-62.75 [[ 3.11745837e-01 -4.28596166e-01 8.48009351e-01 1.64753698e+02] [ 1.64172088e-01 9.03359747e-01 3.96217988e-01 -6.52666687e+01] [-9.35875023e-01 1.57001577e-02 3.51982168e-01 -6.27537014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.79, Y:-65.27, Z:-62.78 [[ 3.16411553e-01 -4.63547257e-01 8.27651902e-01 1.64794891e+02] [ 1.63659714e-01 8.86070423e-01 4.33698864e-01 -6.52733159e+01] [-9.34397789e-01 -1.77405737e-03 3.56226930e-01 -6.27786366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.74, Y:-65.23, Z:-62.82 [[ 3.14183241e-01 -3.70636062e-01 8.74023913e-01 1.64740149e+02] [ 1.65762239e-01 9.27917592e-01 3.33903913e-01 -6.52305492e+01] [-9.34778996e-01 3.99731468e-02 3.52973620e-01 -6.28205928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:-65.25, Z:-62.84 [[ 3.08989057e-01 -4.28416564e-01 8.49108362e-01 1.64780145e+02] [ 1.65247667e-01 9.03400974e-01 3.95676494e-01 -6.52483088e+01] [-9.36599686e-01 1.80534688e-02 3.49935853e-01 -6.28435500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.79, Y:-65.24, Z:-62.87 [[ 3.08940425e-01 -4.27918476e-01 8.49377179e-01 1.64789464e+02] [ 1.65519941e-01 9.03627095e-01 3.95045849e-01 -6.52425108e+01] [-9.36567650e-01 1.85432283e-02 3.49995979e-01 -6.28742756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.80, Y:-65.24, Z:-62.90 [[ 3.08932845e-01 -4.27396629e-01 8.49642642e-01 1.64798843e+02] [ 1.65805066e-01 9.03863774e-01 3.94384278e-01 -6.52368774e+01] [-9.36519716e-01 1.90367970e-02 3.50097733e-01 -6.29045553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:-65.24, Z:-62.93 [[ 3.11465938e-01 -4.49148212e-01 8.37409609e-01 1.64827340e+02] [ 1.64993339e-01 8.93421183e-01 4.17822674e-01 -6.52399936e+01] [-9.35823791e-01 8.02947630e-03 3.52376731e-01 -6.29315138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.81, Y:-65.22, Z:-62.97 [[ 3.10781343e-01 -4.04466447e-01 8.60128973e-01 1.64806855e+02] [ 1.65503245e-01 9.14143963e-01 3.70066874e-01 -6.52166578e+01] [-9.35961341e-01 2.73442561e-02 3.51039398e-01 -6.29683261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:-65.22, Z:-63.00 [[ 3.11933328e-01 -4.15138698e-01 8.54609536e-01 1.64823950e+02] [ 1.65958666e-01 9.09469447e-01 3.81212600e-01 -6.52164558e+01] [-9.35497365e-01 2.29169438e-02 3.52589696e-01 -6.29977464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.87, Y:-65.22, Z:-63.02 [[ 3.21768592e-01 -4.47429374e-01 8.34429103e-01 1.64869319e+02] [ 1.65992538e-01 8.94306358e-01 4.15526912e-01 -6.52234220e+01] [-9.32154199e-01 4.80549512e-03 3.62029635e-01 -6.30212032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.79, Y:-65.17, Z:-63.07 [[ 3.11564643e-01 -3.28476161e-01 8.91645044e-01 1.64789997e+02] [ 1.68386731e-01 9.42586420e-01 2.88403797e-01 -6.51677893e+01] [-9.35186282e-01 6.02847684e-02 3.48987629e-01 -6.30670645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:-65.21, Z:-63.08 [[ 3.07587755e-01 -4.27129341e-01 8.50264841e-01 1.64855139e+02] [ 1.66574804e-01 9.03958310e-01 3.93842872e-01 -6.52064280e+01] [-9.36825815e-01 2.04914542e-02 3.49195494e-01 -6.30845403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.86, Y:-65.20, Z:-63.12 [[ 3.05427544e-01 -4.26704185e-01 8.51256456e-01 1.64860851e+02] [ 1.66321056e-01 9.04138387e-01 3.93536636e-01 -6.52017749e+01] [-9.37577368e-01 2.13849447e-02 3.47118657e-01 -6.31159688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.87, Y:-65.20, Z:-63.15 [[ 3.07245290e-01 -4.26100467e-01 8.50904650e-01 1.64874829e+02] [ 1.66899247e-01 9.04423187e-01 3.92636396e-01 -6.51956746e+01] [-9.36880448e-01 2.13796621e-02 3.48995611e-01 -6.31457097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-65.19, Z:-63.18 [[ 3.06429655e-01 -4.25457105e-01 8.51520474e-01 1.64882989e+02] [ 1.66455284e-01 9.04721319e-01 3.92137697e-01 -6.51913333e+01] [-9.37226496e-01 2.15774630e-02 3.48053025e-01 -6.31772369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:164.90, Y:-65.19, Z:-63.21 [[ 3.06751701e-01 -4.24233935e-01 8.52014649e-01 1.64895682e+02] [ 1.64541285e-01 9.05329845e-01 3.91540596e-01 -6.51859740e+01] [-9.37459098e-01 2.00858413e-02 3.47515466e-01 -6.32075887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:-65.18, Z:-63.24 [[ 3.06950916e-01 -4.23690358e-01 8.52213363e-01 1.64904144e+02] [ 1.64936734e-01 9.05572785e-01 3.90811727e-01 -6.51806009e+01] [-9.37324389e-01 2.06012709e-02 3.47848499e-01 -6.32376914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.92, Y:-65.18, Z:-63.27 [[ 3.08798384e-01 -4.22779421e-01 8.51998309e-01 1.64915357e+02] [ 1.63856879e-01 9.06031074e-01 3.90203302e-01 -6.51769772e+01] [-9.36906869e-01 1.91116345e-02 3.49056248e-01 -6.32687692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.93, Y:-65.17, Z:-63.30 [[ 3.07407667e-01 -4.21755993e-01 8.53007859e-01 1.64925409e+02] [ 1.61991975e-01 9.06523840e-01 3.89837308e-01 -6.51712468e+01] [-9.37688182e-01 1.83414505e-02 3.46993465e-01 -6.32998933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.93, Y:-65.17, Z:-63.33 [[ 3.04735178e-01 -4.22067541e-01 8.53812311e-01 1.64931833e+02] [ 1.61045352e-01 9.06375989e-01 3.90572607e-01 -6.51667941e+01] [-9.38722997e-01 1.84812914e-02 3.44176664e-01 -6.33280083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.94, Y:-65.16, Z:-63.36 [[ 3.04635526e-01 -4.17785786e-01 8.55951069e-01 1.64938375e+02] [ 1.61451060e-01 9.08311063e-01 3.85881547e-01 -6.51605097e+01] [-9.38685651e-01 2.06409792e-02 3.44155776e-01 -6.33553435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:-65.16, Z:-63.38 [[ 3.07049480e-01 -4.17563871e-01 8.55196487e-01 1.64947900e+02] [ 1.62446470e-01 9.08413099e-01 3.85223035e-01 -6.51558105e+01] [-9.37726912e-01 2.06411176e-02 3.46759546e-01 -6.33804002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.96, Y:-65.15, Z:-63.41 [[ 3.07543762e-01 -4.22817419e-01 8.52433144e-01 1.64958814e+02] [ 1.62157302e-01 9.06035930e-01 3.90901397e-01 -6.51546483e+01] [-9.37614976e-01 1.80089725e-02 3.47208631e-01 -6.34065378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-65.15, Z:-63.43 [[ 3.09988642e-01 -4.17912396e-01 8.53965030e-01 1.64965346e+02] [ 1.64127154e-01 9.08248171e-01 3.84899386e-01 -6.51472706e+01] [-9.36466401e-01 2.08444125e-02 3.50137389e-01 -6.34347146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.98, Y:-65.15, Z:-63.46 [[ 3.09034361e-01 -4.25295619e-01 8.50659391e-01 1.64980159e+02] [ 1.62202248e-01 9.04906316e-01 3.93490776e-01 -6.51457118e+01] [-9.37116959e-01 1.63766952e-02 3.48631051e-01 -6.34636826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.99, Y:-65.14, Z:-63.49 [[ 3.11560337e-01 -4.23507307e-01 8.50630188e-01 1.64989868e+02] [ 1.62172193e-01 9.05752148e-01 3.91552328e-01 -6.51406906e+01] [-9.36285393e-01 1.59563879e-02 3.50877553e-01 -6.34946221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:-65.13, Z:-63.52 [[ 3.13398167e-01 -4.22836087e-01 8.50288911e-01 1.65001332e+02] [ 1.62848437e-01 9.06063672e-01 3.90549625e-01 -6.51347224e+01] [-9.35554368e-01 1.60706831e-02 3.52816890e-01 -6.35237140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:-65.13, Z:-63.55 [[ 3.10567051e-01 -4.22164217e-01 8.51660426e-01 1.65007915e+02] [ 1.61496155e-01 9.06372881e-01 3.90393639e-01 -6.51299951e+01] [-9.36732138e-01 1.62964829e-02 3.49667450e-01 -6.35544149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84361786499997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:165.02, Y:-65.13, Z:-63.58 [[ 3.11063619e-01 -4.21557529e-01 8.51779710e-01 1.65017574e+02] [ 1.61636227e-01 9.06652236e-01 3.89686351e-01 -6.51251638e+01] [-9.36543195e-01 1.64612118e-02 3.50165494e-01 -6.35842335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:165.02, Y:-65.12, Z:-63.62 [[ 3.09023592e-01 -4.21745973e-01 8.52428738e-01 1.65024712e+02] [ 1.63468023e-01 9.06513697e-01 3.89244297e-01 -6.51197756e+01] [-9.36900542e-01 1.90591700e-02 3.49076099e-01 -6.36165871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:-65.11, Z:-63.65 [[ 3.10783452e-01 -4.21194900e-01 8.52061325e-01 1.65037567e+02] [ 1.64421617e-01 9.06761971e-01 3.88263133e-01 -6.51141778e+01] [-9.36151258e-01 1.94315436e-02 3.51060162e-01 -6.36462223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.05, Y:-65.11, Z:-63.68 [[ 3.10249484e-01 -4.20268137e-01 8.52713287e-01 1.65048350e+02] [ 1.63205773e-01 9.07203726e-01 3.87743827e-01 -6.51100105e+01] [-9.36541047e-01 1.88704087e-02 3.50049674e-01 -6.36761818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.10, Y:-65.12, Z:-63.70 [[ 3.17603359e-01 -4.66572221e-01 8.25492864e-01 1.65102068e+02] [ 1.63959772e-01 8.84476607e-01 4.36827568e-01 -6.51226040e+01] [-9.33940737e-01 -3.39028173e-03 3.57411816e-01 -6.36996902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.07, Y:-65.09, Z:-63.74 [[ 3.19040311e-01 -3.96095594e-01 8.61000325e-01 1.65071156e+02] [ 1.65005420e-01 9.17816125e-01 3.61091086e-01 -6.50875313e+01] [-9.33266570e-01 2.68671079e-02 3.58178262e-01 -6.37410243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.02, Y:-65.05, Z:-63.78 [[ 3.08177703e-01 -3.26541145e-01 8.93530852e-01 1.65023754e+02] [ 1.66523912e-01 9.43260053e-01 2.87280803e-01 -6.50517134e+01] [-9.36640961e-01 6.02607151e-02 3.45068625e-01 -6.37779601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:-65.09, Z:-63.80 [[ 3.02864450e-01 -4.22025963e-01 8.54498222e-01 1.65081307e+02] [ 1.66207711e-01 9.06257831e-01 3.88679483e-01 -6.50893610e+01] [-9.38428539e-01 2.43069951e-02 3.44617249e-01 -6.37965295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.10, Y:-65.09, Z:-63.83 [[ 3.05935554e-01 -4.32795617e-01 8.47992565e-01 1.65103879e+02] [ 1.64411271e-01 9.01334962e-01 4.00704654e-01 -6.50899406e+01] [-9.37748565e-01 1.68297347e-02 3.46906889e-01 -6.38250635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:-65.08, Z:-63.86 [[ 3.03128324e-01 -4.19910536e-01 8.55446294e-01 1.65099825e+02] [ 1.65826023e-01 9.07229999e-01 3.86568828e-01 -6.50781941e+01] [-9.38410864e-01 2.46752956e-02 3.44639203e-01 -6.38568858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.12, Y:-65.08, Z:-63.89 [[ 3.03741590e-01 -4.32100662e-01 8.49134892e-01 1.65117625e+02] [ 1.64882462e-01 9.01634364e-01 3.99836525e-01 -6.50787621e+01] [-9.38378826e-01 1.85604702e-02 3.45109676e-01 -6.38863440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.13, Y:-65.07, Z:-63.92 [[ 3.04767855e-01 -4.34471691e-01 8.47555841e-01 1.65129621e+02] [ 1.64960088e-01 9.00521184e-01 4.02305563e-01 -6.50745247e+01] [-9.38032368e-01 1.72030822e-02 3.46120398e-01 -6.39151204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:-65.07, Z:-63.95 [[ 3.07864321e-01 -4.29889989e-01 8.48772146e-01 1.65142198e+02] [ 1.63159237e-01 9.02740528e-01 3.98043468e-01 -6.50690633e+01] [-9.37335918e-01 1.59416339e-02 3.48062123e-01 -6.39464257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:-65.06, Z:-63.98 [[ 3.08795429e-01 -4.16683452e-01 8.54997242e-01 1.65144045e+02] [ 1.62754039e-01 9.08819663e-01 3.84132715e-01 -6.50581554e+01] [-9.37100051e-01 2.05358277e-02 3.48456273e-01 -6.39778653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26361786499996 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:165.15, Y:-65.05, Z:-64.01 [[ 3.12261140e-01 -4.05024094e-01 8.59330241e-01 1.65146932e+02] [ 1.63928599e-01 9.13965381e-01 3.71207080e-01 -6.50482433e+01] [-9.35745903e-01 2.49552560e-02 3.51790905e-01 -6.40057470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.17, Y:-65.05, Z:-64.03 [[ 3.11986194e-01 -4.23720091e-01 8.50368096e-01 1.65167850e+02] [ 1.63279460e-01 9.05638293e-01 3.91355466e-01 -6.50515067e+01] [-9.35951085e-01 1.67501411e-02 3.51731431e-01 -6.40298555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.18, Y:-65.05, Z:-64.06 [[ 3.10313461e-01 -4.23540307e-01 8.51069424e-01 1.65177781e+02] [ 1.61234608e-01 9.05743076e-01 3.91960306e-01 -6.50460471e+01] [-9.36861226e-01 1.55912861e-02 3.49353624e-01 -6.40601432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-65.04, Z:-64.09 [[ 3.09341604e-01 -4.16435917e-01 8.54920405e-01 1.65181431e+02] [ 1.61680454e-01 9.08958975e-01 3.84256442e-01 -6.50360365e+01] [-9.37105759e-01 1.93574149e-02 3.48508375e-01 -6.40928178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:-65.03, Z:-64.12 [[ 3.10940401e-01 -4.14933521e-01 8.55070898e-01 1.65193782e+02] [ 1.59310957e-01 9.09693382e-01 3.83507457e-01 -6.50314670e+01] [-9.36982436e-01 1.69742005e-02 3.48963881e-01 -6.41218066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-65.03, Z:-64.15 [[ 3.08885275e-01 -4.20626724e-01 8.53031680e-01 1.65206138e+02] [ 1.57880440e-01 9.07123104e-01 3.90130032e-01 -6.50289709e+01] [-9.37903862e-01 1.41715949e-02 3.46605701e-01 -6.41479483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-65.02, Z:-64.18 [[ 3.10571211e-01 -4.06421246e-01 8.59283012e-01 1.65205266e+02] [ 1.57565289e-01 9.13490433e-01 3.75111195e-01 -6.50159438e+01] [-9.37399970e-01 1.88944378e-02 3.47741711e-01 -6.41804400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47361786499997 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:165.22, Y:-65.01, Z:-64.21 [[ 3.11871098e-01 -4.09350947e-01 8.57419513e-01 1.65217809e+02] [ 1.55588578e-01 9.12249956e-01 3.78935630e-01 -6.50141678e+01] [-9.37298572e-01 1.52256118e-02 3.48194728e-01 -6.42061366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-65.02, Z:-64.23 [[ 3.10870890e-01 -4.23386680e-01 8.50942424e-01 1.65234430e+02] [ 1.48530480e-01 9.05943652e-01 3.96490600e-01 -6.50212152e+01] [-9.38774726e-01 3.13350112e-03 3.44517337e-01 -6.42254060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:-65.02, Z:-64.26 [[ 3.10885974e-01 -4.34945169e-01 8.45087339e-01 1.65247807e+02] [ 1.51241056e-01 9.00456349e-01 4.07804496e-01 -6.50194101e+01] [-9.38336856e-01 1.03120352e-03 3.45720815e-01 -6.42588670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:-65.00, Z:-64.29 [[ 3.12872701e-01 -4.11542142e-01 8.56004520e-01 1.65244104e+02] [ 1.51319094e-01 9.11338573e-01 3.82837481e-01 -6.50043620e+01] [-9.37663695e-01 9.75043175e-03 3.47407145e-01 -6.42915834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-65.00, Z:-64.32 [[ 3.12878258e-01 -4.16753682e-01 8.53477337e-01 1.65260334e+02] [ 1.48985679e-01 9.09003605e-01 3.89250194e-01 -6.50019616e+01] [-9.38035427e-01 5.36797803e-03 3.46497795e-01 -6.43208380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-64.99, Z:-64.35 [[ 3.14962710e-01 -4.00493927e-01 8.60466795e-01 1.65257503e+02] [ 1.51750795e-01 9.16196072e-01 3.70886039e-01 -6.49886297e+01] [-9.36893904e-01 1.37612482e-02 3.49342869e-01 -6.43538204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.27, Y:-64.99, Z:-64.38 [[ 3.14206926e-01 -4.05891587e-01 8.58210946e-01 1.65271148e+02] [ 1.51195863e-01 9.13850767e-01 3.76850881e-01 -6.49871346e+01] [-9.37237333e-01 1.13487875e-02 3.48507369e-01 -6.43796035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-64.98, Z:-64.40 [[ 3.13869837e-01 -4.11465712e-01 8.55676161e-01 1.65283620e+02] [ 1.52100054e-01 9.11369195e-01 3.82454918e-01 -6.49847910e+01] [-9.37203979e-01 1.01073276e-02 3.48635258e-01 -6.44043573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:-64.98, Z:-64.44 [[ 3.12025053e-01 -4.02022449e-01 8.60824208e-01 1.65286700e+02] [ 1.55228490e-01 9.15457194e-01 3.71271117e-01 -6.49753065e+01] [-9.37307037e-01 1.77785524e-02 3.48050917e-01 -6.44379806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.29, Y:-64.97, Z:-64.47 [[ 3.11071164e-01 -3.99679891e-01 8.62259077e-01 1.65292951e+02] [ 1.55969934e-01 9.16439858e-01 3.68525936e-01 -6.49694999e+01] [-9.37500992e-01 1.98486996e-02 3.47416060e-01 -6.44674775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-64.97, Z:-64.50 [[ 3.11657313e-01 -4.00456151e-01 8.61687061e-01 1.65305131e+02] [ 1.57189473e-01 9.16086973e-01 3.68884980e-01 -6.49652647e+01] [-9.37102550e-01 2.04824327e-02 3.48452696e-01 -6.44976017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.31, Y:-64.96, Z:-64.53 [[ 3.11472001e-01 -4.00024026e-01 8.61954738e-01 1.65314609e+02] [ 1.61096535e-01 9.16175636e-01 3.66974265e-01 -6.49606080e+01] [-9.36500453e-01 2.45557130e-02 3.49805543e-01 -6.45282557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.33, Y:-64.96, Z:-64.56 [[ 3.07126198e-01 -4.14070255e-01 8.56865989e-01 1.65333180e+02] [ 1.59951113e-01 9.10033841e-01 3.82431759e-01 -6.49625679e+01] [-9.38130662e-01 1.96018568e-02 3.45726232e-01 -6.45554245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.34, Y:-64.96, Z:-64.59 [[ 3.05898537e-01 -4.09807220e-01 8.59350992e-01 1.65340442e+02] [ 1.59490743e-01 9.11921162e-01 3.78103819e-01 -6.49563769e+01] [-9.38610030e-01 2.13971235e-02 3.44315808e-01 -6.45850549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:-64.95, Z:-64.61 [[ 3.06739083e-01 -4.11706290e-01 8.58142800e-01 1.65350498e+02] [ 1.60519597e-01 9.11068258e-01 3.79721066e-01 -6.49524458e+01] [-9.38160218e-01 2.12734448e-02 3.45547170e-01 -6.46140909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:-64.95, Z:-64.64 [[ 3.06096226e-01 -4.22856278e-01 8.52934739e-01 1.65367913e+02] [ 1.61695983e-01 9.06014203e-01 3.91142779e-01 -6.49522642e+01] [-9.38168167e-01 1.81887923e-02 3.45701690e-01 -6.46443449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-64.95, Z:-64.67 [[ 3.09430368e-01 -4.35770021e-01 8.45196626e-01 1.65393585e+02] [ 1.61154116e-01 8.99992278e-01 4.05022531e-01 -6.49524750e+01] [-9.37167113e-01 1.08806438e-02 3.48711074e-01 -6.46707108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-64.92, Z:-64.71 [[ 3.05876807e-01 -3.70236374e-01 8.77134201e-01 1.65356186e+02] [ 1.60352470e-01 9.28163304e-01 3.35857062e-01 -6.49183330e+01] [-9.38470279e-01 3.79197496e-02 3.43271945e-01 -6.47104771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-64.93, Z:-64.74 [[ 3.06153620e-01 -4.06210436e-01 8.60966343e-01 1.65387394e+02] [ 1.58876706e-01 9.13511520e-01 3.74506201e-01 -6.49306367e+01] [-9.38631000e-01 2.21310670e-02 3.44212234e-01 -6.47372034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-64.92, Z:-64.77 [[ 3.09034009e-01 -3.97715257e-01 8.63898464e-01 1.65392245e+02] [ 1.59242544e-01 9.17176747e-01 3.65278834e-01 -6.49222986e+01] [-9.37624548e-01 2.46858065e-02 3.46771996e-01 -6.47679066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07361786499996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.43, Y:-64.94, Z:-64.79 [[ 3.08583962e-01 -4.37819304e-01 8.44446680e-01 1.65430274e+02] [ 1.55233625e-01 8.99050434e-01 4.09403028e-01 -6.49358319e+01] [-9.38444703e-01 4.75131050e-03 3.45396822e-01 -6.47884400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:-64.91, Z:-64.83 [[ 3.07009240e-01 -3.93051152e-01 8.66750321e-01 1.65409658e+02] [ 1.55387006e-01 9.19213576e-01 3.61802818e-01 -6.49119531e+01] [-9.38935677e-01 2.36049294e-02 3.43282104e-01 -6.48274108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:-64.91, Z:-64.86 [[ 3.06795357e-01 -4.02823085e-01 8.62328343e-01 1.65425990e+02] [ 1.54770071e-01 9.15076204e-01 3.72400007e-01 -6.49117814e+01] [-9.39107467e-01 1.92120258e-02 3.43086088e-01 -6.48573804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:-64.92, Z:-64.88 [[ 3.11955437e-01 -4.29766767e-01 8.47339561e-01 1.65460095e+02] [ 1.54607646e-01 9.02920662e-01 4.01037098e-01 -6.49191662e+01] [-9.37432814e-01 5.89947152e-03 3.48116237e-01 -6.48831176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.45, Y:-64.90, Z:-64.92 [[ 3.12916560e-01 -3.93768053e-01 8.64308942e-01 1.65451084e+02] [ 1.54204874e-01 9.18997910e-01 3.62854928e-01 -6.48985754e+01] [-9.37178790e-01 1.97373354e-02 3.48290617e-01 -6.49179611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:-64.88, Z:-64.95 [[ 3.07799748e-01 -3.49627018e-01 8.84884322e-01 1.65426281e+02] [ 1.52222468e-01 9.36152256e-01 3.16934178e-01 -6.48750781e+01] [-9.39195206e-01 3.71470157e-02 3.41368516e-01 -6.49509794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-64.92, Z:-64.97 [[ 3.12253662e-01 -4.47159737e-01 8.38180065e-01 1.65502359e+02] [ 1.52274450e-01 8.94446657e-01 4.20449367e-01 -6.49152788e+01] [-9.37715385e-01 -3.65344581e-03 3.47385247e-01 -6.49694438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.45, Y:-64.87, Z:-65.01 [[ 3.07477581e-01 -3.57227186e-01 8.81955937e-01 1.65451614e+02] [ 1.51603788e-01 9.33408938e-01 3.25213846e-01 -6.48708542e+01] [-9.39400782e-01 3.37118939e-02 3.41159316e-01 -6.50122393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:-64.89, Z:-65.04 [[ 3.12035958e-01 -3.99697587e-01 8.61902199e-01 1.65488977e+02] [ 1.52727171e-01 9.16502693e-01 3.69725877e-01 -6.48863124e+01] [-9.37714228e-01 1.62681162e-02 3.47026477e-01 -6.50367587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:-64.91, Z:-65.05 [[ 3.21294438e-01 -4.67129278e-01 8.23747608e-01 1.65556728e+02] [ 1.50920902e-01 8.84009198e-01 4.42437136e-01 -6.49105700e+01] [-9.34875802e-01 -1.78318588e-02 3.54526811e-01 -6.50546291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:-64.84, Z:-65.11 [[ 3.08644855e-01 -3.11523465e-01 8.98716576e-01 1.65458616e+02] [ 1.49770009e-01 9.48976896e-01 2.77509990e-01 -6.48379775e+01] [-9.39312141e-01 4.89487591e-02 3.39553709e-01 -6.51092846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:-64.89, Z:-65.12 [[ 3.10353021e-01 -4.23041054e-01 8.51303277e-01 1.65534244e+02] [ 1.50577338e-01 9.06093935e-01 3.95373553e-01 -6.48858729e+01] [-9.38619980e-01 5.48160486e-03 3.44909386e-01 -6.51234150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:-64.89, Z:-65.15 [[ 3.17271478e-01 -4.36914896e-01 8.41691264e-01 1.65564726e+02] [ 1.50069675e-01 8.99494477e-01 4.10352018e-01 -6.48879562e+01] [-9.36385552e-01 -3.88065647e-03 3.50951618e-01 -6.51512259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:-64.83, Z:-65.20 [[ 3.05921028e-01 -3.23713824e-01 8.95333281e-01 1.65494888e+02] [ 1.51768921e-01 9.44975685e-01 2.89805365e-01 -6.48333248e+01] [-9.39882184e-01 4.72262110e-02 3.38217631e-01 -6.51983571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:-64.86, Z:-65.22 [[ 3.04809833e-01 -3.97447613e-01 8.65520861e-01 1.65546369e+02] [ 1.50450034e-01 9.17449220e-01 3.68309266e-01 -6.48646704e+01] [-9.40455078e-01 1.79533576e-02 3.39443551e-01 -6.52210411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:-64.86, Z:-65.25 [[ 3.03852459e-01 -3.97486440e-01 8.65839600e-01 1.65556610e+02] [ 1.51205638e-01 9.17409818e-01 3.68097923e-01 -6.48605314e+01] [-9.40643683e-01 1.90723702e-02 3.38859420e-01 -6.52518014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:-64.85, Z:-65.28 [[ 3.05188225e-01 -3.97632872e-01 8.65302402e-01 1.65568373e+02] [ 1.54367696e-01 9.17291579e-01 3.67078701e-01 -6.48538660e+01] [-9.39697165e-01 2.15466410e-02 3.41328259e-01 -6.52824225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:-64.85, Z:-65.31 [[ 3.03142428e-01 -3.96845073e-01 8.66382512e-01 1.65576769e+02] [ 1.53235193e-01 9.17631495e-01 3.66703442e-01 -6.48514317e+01] [-9.40544334e-01 2.15969195e-02 3.38983671e-01 -6.53128625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:-64.85, Z:-65.34 [[ 3.02430042e-01 -3.96980242e-01 8.66569534e-01 1.65586825e+02] [ 1.54891169e-01 9.17527448e-01 3.66267809e-01 -6.48472026e+01] [-9.40502416e-01 2.34535794e-02 3.38976599e-01 -6.53438475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:-64.84, Z:-65.37 [[ 3.06526891e-01 -3.96747994e-01 8.65235398e-01 1.65600619e+02] [ 1.57667180e-01 9.17598766e-01 3.64902130e-01 -6.48409081e+01] [-9.38713122e-01 2.45669094e-02 3.43822835e-01 -6.53731446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:-64.84, Z:-65.40 [[ 3.03452496e-01 -3.90854763e-01 8.68993174e-01 1.65602581e+02] [ 1.56982532e-01 9.20042121e-01 3.58997186e-01 -6.48362585e+01] [-9.39826084e-01 2.74781569e-02 3.40546449e-01 -6.54048114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:-64.84, Z:-65.43 [[ 3.01715500e-01 -4.03530676e-01 8.63788603e-01 1.65620374e+02] [ 1.57242222e-01 9.14664977e-01 3.72374629e-01 -6.48379629e+01] [-9.40341768e-01 2.34728423e-02 3.39420661e-01 -6.54337989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:-64.83, Z:-65.46 [[ 3.05592342e-01 -3.95892069e-01 8.65957730e-01 1.65629242e+02] [ 1.59434701e-01 9.17899468e-01 3.63374660e-01 -6.48283778e+01] [-9.38719285e-01 2.70191987e-02 3.43621982e-01 -6.54644129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-64.82, Z:-65.50 [[ 3.06280535e-01 -3.95164250e-01 8.66047025e-01 1.65639221e+02] [ 1.59391100e-01 9.18214087e-01 3.62598081e-01 -6.48240716e+01] [-9.38502377e-01 2.69834537e-02 3.44216767e-01 -6.54952051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:-64.82, Z:-65.53 [[ 3.06238099e-01 -3.94130277e-01 8.66533064e-01 1.65648886e+02] [ 1.58123407e-01 9.18681887e-01 3.61967648e-01 -6.48202977e+01] [-9.38730640e-01 2.61708758e-02 3.43656617e-01 -6.55257184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.66, Y:-64.82, Z:-65.56 [[ 3.06911692e-01 -3.93300161e-01 8.66671908e-01 1.65659376e+02] [ 1.57625792e-01 9.19049802e-01 3.61250011e-01 -6.48152426e+01] [-9.38594334e-01 2.57379935e-02 3.44061379e-01 -6.55570383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-64.81, Z:-65.59 [[ 3.06003594e-01 -3.92245667e-01 8.67470540e-01 1.65668028e+02] [ 1.55981441e-01 9.19522999e-01 3.60759261e-01 -6.48108925e+01] [-9.39165369e-01 2.49156745e-02 3.42560387e-01 -6.55885911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:-64.81, Z:-65.62 [[ 3.04895224e-01 -3.90350018e-01 8.68715008e-01 1.65676043e+02] [ 1.51365753e-01 9.20413287e-01 3.60454976e-01 -6.48070801e+01] [-9.40280443e-01 2.15927008e-02 3.39715240e-01 -6.56197034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-64.80, Z:-65.65 [[ 3.04608480e-01 -3.89840207e-01 8.69044468e-01 1.65685337e+02] [ 1.51629991e-01 9.20615684e-01 3.59826499e-01 -6.47998379e+01] [-9.40330803e-01 2.21670019e-02 3.39538811e-01 -6.56508579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-64.80, Z:-65.68 [[ 3.05852238e-01 -3.88706271e-01 8.69115552e-01 1.65693856e+02] [ 1.50430952e-01 9.21123919e-01 3.59028210e-01 -6.47954484e+01] [-9.40119640e-01 2.09322983e-02 3.40201267e-01 -6.56820073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:-64.79, Z:-65.71 [[ 3.05318577e-01 -3.88719938e-01 8.69297059e-01 1.65700211e+02] [ 1.47182427e-01 9.21180871e-01 3.60226506e-01 -6.47930529e+01] [-9.40807047e-01 1.79614062e-02 3.38466377e-01 -6.57070463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.73, Y:-64.80, Z:-65.73 [[ 3.05226711e-01 -4.18445628e-01 8.55417974e-01 1.65729238e+02] [ 1.45213176e-01 9.08231060e-01 3.92465890e-01 -6.48032500e+01] [-9.41142810e-01 4.42688823e-03 3.37980198e-01 -6.57337966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:-64.80, Z:-65.77 [[ 3.05904069e-01 -4.10906607e-01 8.58823883e-01 1.65735850e+02] [ 1.43548983e-01 9.11660894e-01 3.85055974e-01 -6.47966376e+01] [-9.41178193e-01 5.49310614e-03 3.37866003e-01 -6.57651566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:-64.79, Z:-65.80 [[ 3.05566423e-01 -4.06452503e-01 8.61060697e-01 1.65742285e+02] [ 1.41470751e-01 9.13656125e-01 3.81075467e-01 -6.47917378e+01] [-9.41602458e-01 5.37103616e-03 3.36683774e-01 -6.57956639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.76, Y:-64.79, Z:-65.83 [[ 3.06591286e-01 -4.13683779e-01 8.57244139e-01 1.65758811e+02] [ 1.40413603e-01 9.10420010e-01 3.89126490e-01 -6.47912346e+01] [-9.41427535e-01 1.06594755e-03 3.37213672e-01 -6.58251739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:-64.79, Z:-65.86 [[ 3.09820941e-01 -4.02401418e-01 8.61443024e-01 1.65768851e+02] [ 1.36943864e-01 9.15463027e-01 3.78383171e-01 -6.47859516e+01] [-9.40881163e-01 7.38306101e-04 3.38736022e-01 -6.58590471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.76, Y:-64.77, Z:-65.89 [[ 3.08823889e-01 -3.84826759e-01 8.69790878e-01 1.65764884e+02] [ 1.38948640e-01 9.22934790e-01 3.59005081e-01 -6.47726258e+01] [-9.40915023e-01 9.98691494e-03 3.38495466e-01 -6.58895306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:165.78, Y:-64.77, Z:-65.92 [[ 3.10526592e-01 -3.93540928e-01 8.65273814e-01 1.65783987e+02] [ 1.38241297e-01 9.19292457e-01 3.68497928e-01 -6.47734399e+01] [-9.40458707e-01 5.18816909e-03 3.39868362e-01 -6.59218789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:-64.77, Z:-65.95 [[ 3.09235467e-01 -3.93901620e-01 8.65572030e-01 1.65795204e+02] [ 1.37570174e-01 9.19139392e-01 3.69130364e-01 -6.47705580e+01] [-9.40982398e-01 4.92869474e-03 3.38419613e-01 -6.59489341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.80, Y:-64.76, Z:-65.98 [[ 3.11078670e-01 -3.74742073e-01 8.73383329e-01 1.65795881e+02] [ 1.37235401e-01 9.27059924e-01 3.48893024e-01 -6.47631299e+01] [-9.40423578e-01 1.13259329e-02 3.39816447e-01 -6.59845490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:165.83, Y:-64.77, Z:-66.00 [[ 3.14872624e-01 -4.08456231e-01 8.56748935e-01 1.65829162e+02] [ 1.41151031e-01 9.12777875e-01 3.83292236e-01 -6.47725699e+01] [-9.38579574e-01 2.42762862e-04 3.45062783e-01 -6.60049485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:165.81, Y:-64.75, Z:-66.05 [[ 3.10444214e-01 -3.60715637e-01 8.79493388e-01 1.65807652e+02] [ 1.39240134e-01 9.32482501e-01 3.33299521e-01 -6.47510793e+01] [-9.40338543e-01 1.89898694e-02 3.39709891e-01 -6.60455527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-64.76, Z:-66.07 [[ 3.09828053e-01 -3.77158637e-01 8.72787454e-01 1.65828201e+02] [ 1.40785730e-01 9.26037081e-01 3.50192379e-01 -6.47570115e+01] [-9.40311627e-01 1.43765963e-02 3.40010820e-01 -6.60734297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.84, Y:-64.75, Z:-66.10 [[ 3.09806336e-01 -3.77729914e-01 8.72548077e-01 1.65837648e+02] [ 1.44786482e-01 9.25738842e-01 3.49348639e-01 -6.47504898e+01] [-9.39711077e-01 1.81027439e-02 3.41489944e-01 -6.61041731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:165.85, Y:-64.75, Z:-66.13 [[ 3.09275052e-01 -3.76545355e-01 8.73248268e-01 1.65849573e+02] [ 1.41582766e-01 9.26266514e-01 3.49263031e-01 -6.47510631e+01] [-9.40374002e-01 1.56185635e-02 3.39783457e-01 -6.61343362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-64.74, Z:-66.17 [[ 3.07505633e-01 -3.77241777e-01 8.73572508e-01 1.65855523e+02] [ 1.45522226e-01 9.25900478e-01 3.48613807e-01 -6.47436047e+01] [-9.40352895e-01 1.99235065e-02 3.39616676e-01 -6.61663399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:-64.74, Z:-66.20 [[ 3.09484903e-01 -3.75369360e-01 8.73680112e-01 1.65870007e+02] [ 1.42075888e-01 9.26728798e-01 3.47833548e-01 -6.47441917e+01] [-9.40230576e-01 1.64796460e-02 3.40139508e-01 -6.61958613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.88, Y:-64.74, Z:-66.23 [[ 3.07310634e-01 -3.76118668e-01 8.74125232e-01 1.65875263e+02] [ 1.46030525e-01 9.26334922e-01 3.47244437e-01 -6.47368282e+01] [-9.40337844e-01 2.09370585e-02 3.39597378e-01 -6.62282672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:165.89, Y:-64.74, Z:-66.26 [[ 3.09421312e-01 -3.73844066e-01 8.74356373e-01 1.65889554e+02] [ 1.41328340e-01 9.27347259e-01 3.46487175e-01 -6.47368547e+01] [-9.40364159e-01 1.63608186e-02 3.39775766e-01 -6.62569097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:-64.73, Z:-66.29 [[ 3.09328834e-01 -3.72912180e-01 8.74786933e-01 1.65899339e+02] [ 1.40319145e-01 9.27732732e-01 3.45864880e-01 -6.47322050e+01] [-9.40545698e-01 1.57633739e-02 3.39301203e-01 -6.62885014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.91, Y:-64.73, Z:-66.32 [[ 3.09592211e-01 -3.71862418e-01 8.75140563e-01 1.65909004e+02] [ 1.39047075e-01 9.28169664e-01 3.45205715e-01 -6.47275977e+01] [-9.40647954e-01 1.48127348e-02 3.39060480e-01 -6.63190342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:165.92, Y:-64.72, Z:-66.35 [[ 3.10412469e-01 -3.71078355e-01 8.75182812e-01 1.65918818e+02] [ 1.38038051e-01 9.28498987e-01 3.44724714e-01 -6.47234726e+01] [-9.40526233e-01 1.38016797e-02 3.39440596e-01 -6.63494134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.93, Y:-64.72, Z:-66.38 [[ 3.12166783e-01 -3.69927096e-01 8.75046195e-01 1.65928512e+02] [ 1.36760132e-01 9.28979294e-01 3.43939147e-01 -6.47196289e+01] [-9.40132207e-01 1.23050563e-02 3.40587756e-01 -6.63795088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.93, Y:-64.71, Z:-66.41 [[ 3.10118730e-01 -3.74545656e-01 8.73808860e-01 1.65934810e+02] [ 1.38167805e-01 9.27121506e-01 3.48360977e-01 -6.47149623e+01] [-9.40604078e-01 1.26989882e-02 3.39267896e-01 -6.64078424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69361786499996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:165.96, Y:-64.72, Z:-66.44 [[ 3.13022396e-01 -3.86316552e-01 8.67626937e-01 1.65959373e+02] [ 1.34387107e-01 9.22360641e-01 3.62202918e-01 -6.47202906e+01] [-9.40189920e-01 3.22024893e-03 3.40635502e-01 -6.64376625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:165.96, Y:-64.71, Z:-66.47 [[ 3.12078464e-01 -3.72272774e-01 8.74082384e-01 1.65961356e+02] [ 1.33633531e-01 9.28085890e-01 3.47561016e-01 -6.47093942e+01] [-9.40611031e-01 8.34040695e-03 3.39383744e-01 -6.64690397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75361786499997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:165.97, Y:-64.70, Z:-66.50 [[ 3.13345468e-01 -3.65068769e-01 8.76663796e-01 1.65966506e+02] [ 1.34401190e-01 9.30910677e-01 3.39619833e-01 -6.47014874e+01] [-9.40080283e-01 1.14063216e-02 3.40762319e-01 -6.65005755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:165.98, Y:-64.70, Z:-66.53 [[ 3.16606598e-01 -3.66735041e-01 8.74794646e-01 1.65979591e+02] [ 1.37269118e-01 9.30243574e-01 3.40299987e-01 -6.46954401e+01] [-9.38572028e-01 1.23410684e-02 3.44862649e-01 -6.65298434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:165.99, Y:-64.69, Z:-66.56 [[ 3.12574280e-01 -3.65926300e-01 8.76581578e-01 1.65987279e+02] [ 1.35410505e-01 9.30561640e-01 3.40174998e-01 -6.46929894e+01] [-9.40192169e-01 1.23683991e-02 3.40419900e-01 -6.65606403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-64.69, Z:-66.59 [[ 3.12442600e-01 -3.65569176e-01 8.76777508e-01 1.65997422e+02] [ 1.36246173e-01 9.30687930e-01 3.39495150e-01 -6.46884895e+01] [-9.40115207e-01 1.33848324e-02 3.40593958e-01 -6.65901060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.01, Y:-64.68, Z:-66.62 [[ 3.11995640e-01 -3.65347614e-01 8.77028985e-01 1.66007322e+02] [ 1.36708683e-01 9.30764370e-01 3.39099430e-01 -6.46845015e+01] [-9.40196499e-01 1.40999334e-02 3.40340616e-01 -6.66197390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:166.02, Y:-64.68, Z:-66.65 [[ 3.11263006e-01 -3.65511363e-01 8.77221058e-01 1.66017891e+02] [ 1.38944576e-01 9.30660090e-01 3.38476293e-01 -6.46804195e+01] [-9.40111560e-01 1.65299597e-02 3.40465879e-01 -6.66502537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:166.03, Y:-64.68, Z:-66.68 [[ 3.11088158e-01 -3.65164191e-01 8.77427645e-01 1.66028488e+02] [ 1.39850693e-01 9.30776208e-01 3.37783118e-01 -6.46763955e+01] [-9.40035075e-01 1.76285363e-02 3.40621922e-01 -6.66809657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.04, Y:-64.67, Z:-66.71 [[ 3.11337452e-01 -3.63241939e-01 8.78136826e-01 1.66036240e+02] [ 1.41666627e-01 9.31478446e-01 3.35079798e-01 -6.46716042e+01] [-9.39680562e-01 2.00797922e-02 3.41463386e-01 -6.67086128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:166.05, Y:-64.67, Z:-66.74 [[ 3.11756570e-01 -3.76229381e-01 8.72501744e-01 1.66054574e+02] [ 1.43301948e-01 9.26380345e-01 3.48258535e-01 -6.46734915e+01] [-9.39293560e-01 1.64593134e-02 3.42719563e-01 -6.67390553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.07, Y:-64.67, Z:-66.77 [[ 3.10012483e-01 -3.78392353e-01 8.72187760e-01 1.66066308e+02] [ 1.44461932e-01 9.25480952e-01 3.50165328e-01 -6.46702683e+01] [-9.39693041e-01 1.74423064e-02 3.41573938e-01 -6.67685264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.07, Y:-64.66, Z:-66.80 [[ 3.10214520e-01 -3.65072957e-01 8.77774850e-01 1.66068401e+02] [ 1.45330839e-01 9.30684198e-01 3.35716951e-01 -6.46596368e+01] [-9.39492362e-01 2.34234822e-02 3.41768111e-01 -6.68007216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:-64.65, Z:-66.83 [[ 3.10410789e-01 -3.64851025e-01 8.77797740e-01 1.66078090e+02] [ 1.46642365e-01 9.30737290e-01 3.34998678e-01 -6.46545549e+01] [-9.39223700e-01 2.47351322e-02 3.42413514e-01 -6.68314516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-64.65, Z:-66.86 [[ 3.10671083e-01 -3.64216419e-01 8.77969179e-01 1.66088535e+02] [ 1.46760789e-01 9.30978684e-01 3.34275276e-01 -6.46501015e+01] [-9.39119135e-01 2.50017877e-02 3.42680845e-01 -6.68627831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:-64.64, Z:-66.89 [[ 3.11229290e-01 -3.64222800e-01 8.77768809e-01 1.66097482e+02] [ 1.49081893e-01 9.30917753e-01 3.33416745e-01 -6.46435114e+01] [-9.38568548e-01 2.70903785e-02 3.44027896e-01 -6.68939624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-64.64, Z:-66.92 [[ 3.10948888e-01 -3.63123162e-01 8.78323607e-01 1.66108384e+02] [ 1.47559820e-01 9.31375059e-01 3.32816165e-01 -6.46410508e+01] [-9.38901959e-01 2.61164568e-02 3.43192427e-01 -6.69234681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:-64.64, Z:-66.95 [[ 3.11571172e-01 -3.62528453e-01 8.78348750e-01 1.66118729e+02] [ 1.47807578e-01 9.31599812e-01 3.32076363e-01 -6.46363438e+01] [-9.38656660e-01 2.63611798e-02 3.43844097e-01 -6.69546332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:-64.63, Z:-66.99 [[ 3.11625173e-01 -3.61881941e-01 8.78596160e-01 1.66128169e+02] [ 1.47801383e-01 9.31844701e-01 3.31391316e-01 -6.46316622e+01] [-9.38639709e-01 2.65878519e-02 3.43872918e-01 -6.69852187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-64.63, Z:-67.02 [[ 3.12939668e-01 -3.61425925e-01 8.78316609e-01 1.66137906e+02] [ 1.48632546e-01 9.32006906e-01 3.30562391e-01 -6.46259483e+01] [-9.38070962e-01 2.71003492e-02 3.45381587e-01 -6.70166721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:-64.64, Z:-67.04 [[ 3.21235598e-01 -4.06993796e-01 8.55081131e-01 1.66186901e+02] [ 1.48753506e-01 9.13414435e-01 3.78875262e-01 -6.46421258e+01] [-9.35243329e-01 5.48809506e-03 3.53962986e-01 -6.70397910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:-64.58, Z:-67.09 [[ 3.15407438e-01 -2.89389974e-01 9.03754165e-01 1.66117951e+02] [ 1.49538512e-01 9.55624555e-01 2.53810843e-01 -6.45799366e+01] [-9.37099985e-01 5.50922254e-02 3.44686039e-01 -6.70859074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-64.61, Z:-67.11 [[ 3.14149727e-01 -3.60337488e-01 8.78331853e-01 1.66167366e+02] [ 1.48414674e-01 9.32435202e-01 3.29450570e-01 -6.46108197e+01] [-9.37700930e-01 2.68605288e-02 3.46403635e-01 -6.71081810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:-64.61, Z:-67.14 [[ 3.14655196e-01 -3.59600185e-01 8.78453081e-01 1.66177271e+02] [ 1.48273133e-01 9.32720896e-01 3.28704744e-01 -6.46054610e+01] [-9.37553831e-01 2.68223344e-02 3.46804522e-01 -6.71380405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:-64.60, Z:-67.17 [[ 3.14714038e-01 -3.58957906e-01 8.78694655e-01 1.66187846e+02] [ 1.48172206e-01 9.32964483e-01 3.28058334e-01 -6.46011809e+01] [-9.37550037e-01 2.69535629e-02 3.46804605e-01 -6.71695070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:-64.60, Z:-67.20 [[ 3.15139964e-01 -3.58621563e-01 8.78679337e-01 1.66197983e+02] [ 1.48087129e-01 9.33096994e-01 3.27719701e-01 -6.45960869e+01] [-9.37420399e-01 2.68435259e-02 3.47163391e-01 -6.72000157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:-64.60, Z:-67.23 [[ 3.19585503e-01 -3.80729121e-01 8.67704122e-01 1.66224868e+02] [ 1.49139478e-01 9.24524385e-01 3.50730777e-01 -6.46009431e+01] [-9.35747040e-01 1.73204673e-02 3.52246333e-01 -6.72280175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:-64.57, Z:-67.26 [[ 3.17154247e-01 -3.21892493e-01 8.92075337e-01 1.66196932e+02] [ 1.49763445e-01 9.45833259e-01 2.88045754e-01 -6.45674320e+01] [-9.36474289e-01 4.22453416e-02 3.48182763e-01 -6.72649604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:-64.58, Z:-67.29 [[ 3.16129979e-01 -3.57960835e-01 8.78593124e-01 1.66226930e+02] [ 1.50102558e-01 9.33294030e-01 3.26238374e-01 -6.45808330e+01] [-9.36766277e-01 2.87453454e-02 3.48773059e-01 -6.72915775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:-64.58, Z:-67.32 [[ 3.16154767e-01 -3.57450485e-01 8.78791963e-01 1.66237182e+02] [ 1.50504483e-01 9.33471134e-01 3.25545762e-01 -6.45761229e+01] [-9.36693421e-01 2.93392852e-02 3.48919249e-01 -6.73221979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-64.57, Z:-67.35 [[ 3.15762959e-01 -3.57246432e-01 8.79015779e-01 1.66246855e+02] [ 1.51790975e-01 9.33500645e-01 3.24863119e-01 -6.45706981e+01] [-9.36617987e-01 3.08469225e-02 3.48991710e-01 -6.73520590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:-64.57, Z:-67.38 [[ 3.15402998e-01 -3.56711375e-01 8.79362237e-01 1.66257044e+02] [ 1.51869135e-01 9.33691175e-01 3.24278517e-01 -6.45660754e+01] [-9.36726595e-01 3.12695656e-02 3.48662444e-01 -6.73832607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:-64.56, Z:-67.41 [[ 3.15067975e-01 -3.56161652e-01 8.79705092e-01 1.66267110e+02] [ 1.52106306e-01 9.33881501e-01 3.23618625e-01 -6.45606023e+01] [-9.36800855e-01 3.18468269e-02 3.48410587e-01 -6.74139980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:-64.56, Z:-67.44 [[ 3.14988709e-01 -3.55305487e-01 8.80079612e-01 1.66276936e+02] [ 1.51411141e-01 9.34218602e-01 3.22971004e-01 -6.45558150e+01] [-9.36940115e-01 3.15216387e-02 3.48065521e-01 -6.74445897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:-64.55, Z:-67.47 [[ 3.15138223e-01 -3.54357481e-01 8.80408244e-01 1.66286599e+02] [ 1.50472202e-01 9.34599183e-01 3.22308056e-01 -6.45512683e+01] [-9.37041097e-01 3.09053789e-02 3.47848876e-01 -6.74747157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-64.56, Z:-67.50 [[ 3.20365224e-01 -3.74963529e-01 8.69924408e-01 1.66314556e+02] [ 1.47832310e-01 9.26863700e-01 3.45064181e-01 -6.45583893e+01] [-9.35687839e-01 1.80563712e-02 3.52366622e-01 -6.75037393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:-64.52, Z:-67.54 [[ 3.18131076e-01 -3.08968141e-01 8.96287513e-01 1.66283257e+02] [ 1.47622056e-01 9.50016826e-01 2.75092273e-01 -6.45200424e+01] [-9.36482967e-01 4.47964045e-02 3.47840388e-01 -6.75403139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-64.54, Z:-67.57 [[ 3.17292158e-01 -3.51420084e-01 8.80811905e-01 1.66313832e+02] [ 1.46028246e-01 9.35832899e-01 3.20768665e-01 -6.45386215e+01] [-9.37017309e-01 2.68460359e-02 3.48249698e-01 -6.75676191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:-64.53, Z:-67.60 [[ 3.18629725e-01 -3.50169042e-01 8.80827305e-01 1.66326503e+02] [ 1.44553780e-01 9.36342565e-01 3.19948128e-01 -6.45328901e+01] [-9.36792028e-01 2.53819321e-02 3.48964833e-01 -6.75968007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:-64.53, Z:-67.63 [[ 3.19656804e-01 -3.49806930e-01 8.80599023e-01 1.66334365e+02] [ 1.42482891e-01 9.36537414e-01 3.20306569e-01 -6.45299042e+01] [-9.36759389e-01 2.30821203e-02 3.49212059e-01 -6.76298723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-64.52, Z:-67.66 [[ 3.22367435e-01 -3.39719119e-01 8.83555407e-01 1.66341853e+02] [ 1.41681661e-01 9.40186214e-01 3.09800242e-01 -6.45210017e+01] [-9.35951678e-01 2.53140883e-02 3.51217387e-01 -6.76593527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-64.52, Z:-67.69 [[ 3.21713989e-01 -3.47268742e-01 8.80854432e-01 1.66355534e+02] [ 1.41010329e-01 9.37510573e-01 3.18103777e-01 -6.45211141e+01] [-9.36277842e-01 2.18711387e-02 3.50578745e-01 -6.76897826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:-64.52, Z:-67.72 [[ 3.21506248e-01 -3.46331942e-01 8.81298995e-01 1.66366991e+02] [ 1.40058199e-01 9.37868709e-01 3.17468086e-01 -6.45159668e+01] [-9.36492089e-01 2.13651765e-02 3.50037278e-01 -6.77192344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:-64.51, Z:-67.75 [[ 3.21847943e-01 -3.45537660e-01 8.81486033e-01 1.66376010e+02] [ 1.39578147e-01 9.38168161e-01 3.16794006e-01 -6.45136736e+01] [-9.36446391e-01 2.10766883e-02 3.50176999e-01 -6.77505827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-64.51, Z:-67.78 [[ 3.22293782e-01 -3.46152463e-01 8.81081830e-01 1.66388449e+02] [ 1.39157940e-01 9.37959693e-01 3.17595154e-01 -6.45113162e+01] [-9.36355587e-01 2.02505896e-02 3.50468441e-01 -6.77821065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04361786499996 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:166.39, Y:-64.50, Z:-67.81 [[ 3.25060545e-01 -3.31684064e-01 8.85619175e-01 1.66392712e+02] [ 1.37682702e-01 9.43096620e-01 3.02675137e-01 -6.45015631e+01] [-9.35616971e-01 2.35466958e-02 3.52230660e-01 -6.78070483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.41, Y:-64.50, Z:-67.83 [[ 3.27460445e-01 -3.35301237e-01 8.83370102e-01 1.66405500e+02] [ 1.40783896e-01 9.41795103e-01 3.05289828e-01 -6.44981478e+01] [-9.34317693e-01 2.43939419e-02 3.55605658e-01 -6.78336400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:-64.50, Z:-67.86 [[ 3.27513000e-01 -3.46187326e-01 8.79141382e-01 1.66418116e+02] [ 1.41341125e-01 9.37940534e-01 3.16686343e-01 -6.45020170e+01] [-9.34215136e-01 2.05399379e-02 3.56118225e-01 -6.78601488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:166.42, Y:-64.50, Z:-67.89 [[ 3.26808386e-01 -3.38410432e-01 8.82425441e-01 1.66422730e+02] [ 1.39457701e-01 9.40740553e-01 3.09125801e-01 -6.44957187e+01] [-9.34744793e-01 2.20361189e-02 3.54635842e-01 -6.78882313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:-64.50, Z:-67.92 [[ 3.25653631e-01 -3.51281762e-01 8.77810251e-01 1.66440786e+02] [ 1.40198593e-01 9.36096491e-01 3.22595280e-01 -6.44984970e+01] [-9.35036934e-01 1.80134372e-02 3.54092430e-01 -6.79194322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19361786499996 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:166.45, Y:-64.49, Z:-67.94 [[ 3.31133687e-01 -3.33478177e-01 8.82690652e-01 1.66446280e+02] [ 1.40021980e-01 9.42475142e-01 3.03536575e-01 -6.44873710e+01] [-9.33136821e-01 2.30849072e-02 3.58779543e-01 -6.79429697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-64.50, Z:-67.97 [[ 3.27386280e-01 -3.63584049e-01 8.72138099e-01 1.66471935e+02] [ 1.38532613e-01 9.31499828e-01 3.36328390e-01 -6.44982755e+01] [-9.34680126e-01 1.07102695e-02 3.55328512e-01 -6.79672220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:-64.48, Z:-68.00 [[ 3.25607936e-01 -3.38112361e-01 8.82983298e-01 1.66462645e+02] [ 1.37583227e-01 9.40878226e-01 3.09546475e-01 -6.44823127e+01] [-9.35441248e-01 2.06929029e-02 3.52876007e-01 -6.80039708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28361786499997 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:166.47, Y:-64.48, Z:-68.03 [[ 3.30631751e-01 -3.32501331e-01 8.83247140e-01 1.66474392e+02] [ 1.36913825e-01 9.42879600e-01 3.03698311e-01 -6.44756701e+01] [-9.33775803e-01 2.05164401e-02 3.57269962e-01 -6.80268682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.49, Y:-64.48, Z:-68.05 [[ 3.27449544e-01 -3.50885129e-01 8.77300645e-01 1.66490161e+02] [ 1.36219742e-01 9.36320796e-01 3.23647261e-01 -6.44822008e+01] [-9.34997849e-01 1.35275199e-02 3.54395299e-01 -6.80545415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:-64.47, Z:-68.09 [[ 3.29238321e-01 -3.42918240e-01 8.79777931e-01 1.66500112e+02] [ 1.35532110e-01 9.39238934e-01 3.15374810e-01 -6.44744426e+01] [-9.34469462e-01 1.54046867e-02 3.55709883e-01 -6.80857208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:-64.47, Z:-68.12 [[ 3.30276948e-01 -3.32284770e-01 8.83461357e-01 1.66506078e+02] [ 1.35179364e-01 9.42988198e-01 3.04137795e-01 -6.44660723e+01] [-9.34153990e-01 1.89760414e-02 3.56365308e-01 -6.81169012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:-64.46, Z:-68.15 [[ 3.30685684e-01 -3.23899216e-01 8.86417665e-01 1.66510871e+02] [ 1.35348007e-01 9.45826742e-01 2.95114710e-01 -6.44583921e+01] [-9.33984955e-01 2.23846548e-02 3.56610476e-01 -6.81459741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:-64.46, Z:-68.18 [[ 3.28089201e-01 -3.38198731e-01 8.82031232e-01 1.66528703e+02] [ 1.36548965e-01 9.40888082e-01 3.09974188e-01 -6.44607339e+01] [-9.34725552e-01 1.87412681e-02 3.54875905e-01 -6.81759536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:-64.47, Z:-68.20 [[ 3.36131238e-01 -3.63051206e-01 8.69027970e-01 1.66566857e+02] [ 1.36974592e-01 9.31749854e-01 3.36273951e-01 -6.44694999e+01] [-9.31801348e-01 6.00257245e-03 3.62919023e-01 -6.82029394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:-64.42, Z:-68.24 [[ 3.28567787e-01 -2.78551847e-01 9.02469987e-01 1.66521408e+02] [ 1.37943837e-01 9.59426842e-01 2.45909805e-01 -6.44225531e+01] [-9.34352560e-01 4.36921322e-02 3.53661265e-01 -6.82424842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-64.44, Z:-68.27 [[ 3.26211542e-01 -3.25535497e-01 8.87475448e-01 1.66556894e+02] [ 1.38833251e-01 9.45150975e-01 2.95660217e-01 -6.44426949e+01] [-9.35046180e-01 2.67633262e-02 3.53514308e-01 -6.82681115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-64.44, Z:-68.29 [[ 3.27878383e-01 -3.19347552e-01 8.89107928e-01 1.66564932e+02] [ 1.38123628e-01 9.47225205e-01 2.89285800e-01 -6.44373694e+01] [-9.34568151e-01 2.79562522e-02 3.54684111e-01 -6.82945278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:-64.45, Z:-68.32 [[ 3.29044272e-01 -3.44250932e-01 8.79329951e-01 1.66591882e+02] [ 1.38318693e-01 9.38710149e-01 3.15739126e-01 -6.44459230e+01] [-9.34129438e-01 1.77356187e-02 3.56493536e-01 -6.83207809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61361786499995 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:166.60, Y:-64.44, Z:-68.35 [[ 3.25794737e-01 -3.43415354e-01 8.80865304e-01 1.66595818e+02] [ 1.40792770e-01 9.38932297e-01 3.13980153e-01 -6.44376777e+01] [-9.34898489e-01 2.17263847e-02 3.54249600e-01 -6.83482936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:-64.44, Z:-68.38 [[ 3.29736627e-01 -3.47120713e-01 8.77941323e-01 1.66607785e+02] [ 1.40773270e-01 9.37632323e-01 3.17849827e-01 -6.44380634e+01] [-9.33518421e-01 1.87839415e-02 3.58037038e-01 -6.83766234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:-64.43, Z:-68.41 [[ 3.27658710e-01 -3.46428788e-01 8.78991960e-01 1.66617791e+02] [ 1.40511208e-01 9.37872405e-01 3.17256917e-01 -6.44327136e+01] [-9.34289233e-01 1.95562302e-02 3.55979190e-01 -6.84093292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:-64.42, Z:-68.44 [[ 3.31737218e-01 -3.22024150e-01 8.86707880e-01 1.66619549e+02] [ 1.38033220e-01 9.46387729e-01 2.92056666e-01 -6.44176059e+01] [-9.33218757e-01 2.55090779e-02 3.58402063e-01 -6.84368502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-64.43, Z:-68.47 [[ 3.30651200e-01 -3.48316250e-01 8.77123466e-01 1.66643059e+02] [ 1.40199789e-01 9.37215828e-01 3.19328219e-01 -6.44263829e+01] [-9.33281203e-01 1.73862664e-02 3.58725402e-01 -6.84689215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:-64.42, Z:-68.50 [[ 3.28781187e-01 -3.35098141e-01 8.82956492e-01 1.66647710e+02] [ 1.39627629e-01 9.41906116e-01 3.05478303e-01 -6.44152781e+01] [-9.34027332e-01 2.28496024e-02 3.56469970e-01 -6.85007468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-64.40, Z:-68.53 [[ 3.27020227e-01 -3.08640521e-01 8.93195835e-01 1.66640239e+02] [ 1.39858115e-01 9.50561857e-01 2.77257758e-01 -6.43959203e+01] [-9.34610870e-01 3.42517909e-02 3.54018836e-01 -6.85297248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82361786499996 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:166.66, Y:-64.40, Z:-68.55 [[ 3.29652067e-01 -3.32808278e-01 8.83497688e-01 1.66663524e+02] [ 1.40910615e-01 9.42669200e-01 3.02521038e-01 -6.44041213e+01] [-9.33527564e-01 2.47675171e-02 3.57649069e-01 -6.85531571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-64.42, Z:-68.58 [[ 3.24379530e-01 -3.66203945e-01 8.72165461e-01 1.66689510e+02] [ 1.38648633e-01 9.30470521e-01 3.39118218e-01 -6.44179121e+01] [-9.35710680e-01 1.09215412e-02 3.52599266e-01 -6.85751731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-64.41, Z:-68.61 [[ 3.24960296e-01 -3.47407984e-01 8.79607014e-01 1.66689829e+02] [ 1.37346914e-01 9.37560542e-01 3.19556028e-01 -6.44054989e+01] [-9.35701144e-01 1.69682876e-02 3.52385366e-01 -6.86070973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91361786499996 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:166.70, Y:-64.40, Z:-68.63 [[ 3.25875104e-01 -3.45806220e-01 8.79899696e-01 1.66698729e+02] [ 1.34362390e-01 9.38197195e-01 3.18955750e-01 -6.44040366e+01] [-9.35816309e-01 1.42856876e-02 3.52198458e-01 -6.86341104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:-64.41, Z:-68.66 [[ 3.24769870e-01 -3.63443019e-01 8.73174498e-01 1.66717577e+02] [ 1.37408409e-01 9.31555524e-01 3.36635165e-01 -6.44079669e+01] [-9.35758228e-01 1.06525595e-02 3.52481293e-01 -6.86600151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.71, Y:-64.39, Z:-68.69 [[ 3.26243495e-01 -3.31093302e-01 8.85405222e-01 1.66712805e+02] [ 1.35907836e-01 9.43351114e-01 3.02684219e-01 -6.43891055e+01] [-9.35464720e-01 2.15847501e-02 3.52760339e-01 -6.86941639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:166.71, Y:-64.38, Z:-68.72 [[ 3.27772923e-01 -3.09174857e-01 8.92735022e-01 1.66708002e+02] [ 1.35028198e-01 9.50566283e-01 2.79626766e-01 -6.43754529e+01] [-9.35057376e-01 2.88903189e-02 3.53317213e-01 -6.87228777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:166.72, Y:-64.38, Z:-68.75 [[ 3.21333843e-01 -3.27279781e-01 8.88612686e-01 1.66720264e+02] [ 1.36806499e-01 9.44578600e-01 2.98421263e-01 -6.43780227e+01] [-9.37031773e-01 2.56751389e-02 3.48299073e-01 -6.87518411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.76, Y:-64.39, Z:-68.78 [[ 3.30016743e-01 -3.63900697e-01 8.71013910e-01 1.66762703e+02] [ 1.38762026e-01 9.31386225e-01 3.36548362e-01 -6.43943931e+01] [-9.33720541e-01 9.79706057e-03 3.57868647e-01 -6.87821205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-64.38, Z:-68.81 [[ 3.25131717e-01 -3.34187126e-01 8.84651531e-01 1.66755513e+02] [ 1.37488773e-01 9.42242173e-01 3.05412056e-01 -6.43759877e+01] [-9.35620759e-01 2.23305070e-02 3.52299794e-01 -6.88146206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:166.76, Y:-64.37, Z:-68.84 [[ 3.26307970e-01 -3.27423725e-01 8.86745067e-01 1.66763112e+02] [ 1.37994338e-01 9.44543356e-01 2.97985590e-01 -6.43698391e+01] [-9.35136713e-01 2.51307253e-02 3.53394645e-01 -6.88448641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-64.36, Z:-68.88 [[ 3.26977960e-01 -3.07904029e-01 8.93465457e-01 1.66759301e+02] [ 1.38724543e-01 9.50830843e-01 2.76904694e-01 -6.43567293e+01] [-9.34794584e-01 3.34038557e-02 3.53614575e-01 -6.88758418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499995 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:166.76, Y:-64.35, Z:-68.90 [[ 3.24080723e-01 -2.96381176e-01 8.98404076e-01 1.66756674e+02] [ 1.39791042e-01 9.54235474e-01 2.64373077e-01 -6.43452253e+01] [-9.35644243e-01 3.99106240e-02 3.50680756e-01 -6.89032433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-64.39, Z:-68.92 [[ 3.21340210e-01 -3.87834813e-01 8.63900820e-01 1.66819296e+02] [ 1.37797122e-01 9.21725383e-01 3.62538648e-01 -6.43858161e+01] [-9.36884423e-01 2.54480132e-03 3.49629949e-01 -6.89182065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-64.35, Z:-68.96 [[ 3.26080316e-01 -3.22671240e-01 8.88569017e-01 1.66791966e+02] [ 1.38014687e-01 9.46122524e-01 2.92923397e-01 -6.43503317e+01] [-9.35213117e-01 2.71190210e-02 3.53045302e-01 -6.89556835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-64.36, Z:-68.98 [[ 3.25292376e-01 -3.53497700e-01 8.77054301e-01 1.66819687e+02] [ 1.36539676e-01 9.35336605e-01 3.26346981e-01 -6.43618043e+01] [-9.35703899e-01 1.35945255e-02 3.52524328e-01 -6.89790576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:-64.36, Z:-69.01 [[ 3.25065818e-01 -3.47364662e-01 8.79585133e-01 1.66826628e+02] [ 1.36160347e-01 9.37597710e-01 3.19954518e-01 -6.43550293e+01] [-9.35837899e-01 1.57583401e-02 3.52078260e-01 -6.90111585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:-64.34, Z:-69.05 [[ 3.21644586e-01 -3.37096033e-01 8.84822595e-01 1.66828030e+02] [ 1.38983876e-01 9.41166938e-01 3.08039410e-01 -6.43447991e+01] [-9.36604635e-01 2.38968650e-02 3.49572163e-01 -6.90465745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:-64.34, Z:-69.08 [[ 3.20512963e-01 -3.43343638e-01 8.82828741e-01 1.66842833e+02] [ 1.40229263e-01 9.38926296e-01 3.14250161e-01 -6.43438181e+01] [-9.36806914e-01 2.30771739e-02 3.49084875e-01 -6.90764531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.86, Y:-64.34, Z:-69.11 [[ 3.24609984e-01 -3.41967017e-01 8.81865589e-01 1.66857134e+02] [ 1.43069919e-01 9.39378869e-01 3.11606064e-01 -6.43388533e+01] [-9.34964896e-01 2.50179986e-02 3.53856953e-01 -6.91062111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:-64.32, Z:-69.14 [[ 3.20558713e-01 -3.04132664e-01 8.97076047e-01 1.66841602e+02] [ 1.43814136e-01 9.51700867e-01 2.71261780e-01 -6.43151937e+01] [-9.36247620e-01 4.20568891e-02 3.48814582e-01 -6.91409020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-64.32, Z:-69.16 [[ 3.23621135e-01 -3.28566563e-01 8.87306810e-01 1.66866074e+02] [ 1.43867732e-01 9.43954839e-01 2.97071267e-01 -6.43219269e+01] [-9.35185242e-01 3.15162778e-02 3.52753863e-01 -6.91633192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:-64.33, Z:-69.19 [[ 3.19741708e-01 -3.64705132e-01 8.74502949e-01 1.66897178e+02] [ 1.46606930e-01 9.30881279e-01 3.34613886e-01 -6.43325502e+01] [-9.36093825e-01 2.12181770e-02 3.51109869e-01 -6.91924909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51361786499996 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:166.85, Y:-64.28, Z:-69.23 [[ 3.25045465e-01 -2.75871804e-01 9.04566301e-01 1.66854977e+02] [ 1.48593294e-01 9.59523622e-01 2.39237230e-01 -6.42829543e+01] [-9.33951540e-01 5.66495097e-02 3.52881502e-01 -6.92270537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-64.34, Z:-69.24 [[ 3.15767619e-01 -4.02336084e-01 8.59311635e-01 1.66929971e+02] [ 1.50667501e-01 9.15418381e-01 3.73240528e-01 -6.43400502e+01] [-9.36797798e-01 1.16130637e-02 3.49678455e-01 -6.92420366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:-64.34, Z:-69.27 [[ 3.28068627e-01 -4.11331492e-01 8.50398365e-01 1.66970878e+02] [ 1.49945565e-01 9.11483939e-01 3.83031796e-01 -6.43402306e+01] [-9.32677492e-01 1.85274793e-03 3.60706617e-01 -6.92709475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:-64.28, Z:-69.32 [[ 3.31635129e-01 -2.91380133e-01 8.97282430e-01 1.66908694e+02] [ 1.49904835e-01 9.55299693e-01 2.54815691e-01 -6.42794999e+01] [-9.31421860e-01 5.00011403e-02 3.60490227e-01 -6.93172879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-64.28, Z:-69.35 [[ 3.29589709e-01 -3.04988122e-01 8.93505943e-01 1.66925472e+02] [ 1.49589083e-01 9.51300798e-01 2.69536452e-01 -6.42813655e+01] [-9.32198332e-01 4.48222940e-02 3.59161846e-01 -6.93451002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:-64.26, Z:-69.37 [[ 3.19240382e-01 -2.83153947e-01 9.04383448e-01 1.66905420e+02] [ 1.51310626e-01 9.57306342e-01 2.46312124e-01 -6.42626739e+01] [-9.35516260e-01 5.82100490e-02 3.48455043e-01 -6.93748760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.98, Y:-64.30, Z:-69.41 [[ 3.28153028e-01 -3.71771970e-01 8.68390000e-01 1.66980356e+02] [ 1.53622571e-01 9.28061628e-01 3.39266444e-01 -6.43022314e+01] [-9.32049192e-01 2.20729932e-02 3.61658799e-01 -6.94057612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-64.26, Z:-69.44 [[ 3.28426062e-01 -2.97934640e-01 8.96309808e-01 1.66953357e+02] [ 1.51114183e-01 9.53298905e-01 2.61506599e-01 -6.42631176e+01] [-9.32363033e-01 4.95595417e-02 3.58110355e-01 -6.94374284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-64.24, Z:-69.47 [[ 3.17057066e-01 -2.71104910e-01 9.08832737e-01 1.66929973e+02] [ 1.53380058e-01 9.60316101e-01 2.32953953e-01 -6.42421396e+01] [-9.35921671e-01 6.55371207e-02 3.46057092e-01 -6.94670774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:-64.29, Z:-69.49 [[ 3.14070030e-01 -3.65631371e-01 8.76169913e-01 1.66988991e+02] [ 1.53188648e-01 9.30290918e-01 3.33304735e-01 -6.42856515e+01] [-9.36959580e-01 2.95382565e-02 3.48187072e-01 -6.94881458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:-64.28, Z:-69.52 [[ 3.14543414e-01 -3.65003032e-01 8.76262077e-01 1.66999126e+02] [ 1.53313380e-01 9.30531415e-01 3.32575244e-01 -6.42808827e+01] [-9.36780363e-01 2.97333481e-02 3.48652376e-01 -6.95180553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-64.29, Z:-69.54 [[ 3.18658848e-01 -3.95252151e-01 8.61529033e-01 1.67036219e+02] [ 1.50666657e-01 9.18476576e-01 3.65650567e-01 -6.42914087e+01] [-9.35818410e-01 1.32859113e-02 3.52232008e-01 -6.95403183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-64.28, Z:-69.58 [[ 3.18894946e-01 -3.77576507e-01 8.69334225e-01 1.67040933e+02] [ 1.51142662e-01 9.25743539e-01 3.46633518e-01 -6.42777711e+01] [-9.35661215e-01 2.08538122e-02 3.52282854e-01 -6.95759214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:-64.25, Z:-69.61 [[ 3.19381850e-01 -3.25414349e-01 8.90000413e-01 1.67020397e+02] [ 1.51442742e-01 9.44645901e-01 2.91048480e-01 -6.42481011e+01] [-9.35446594e-01 4.18285010e-02 3.50984397e-01 -6.96127542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:-64.24, Z:-69.64 [[ 3.18966029e-01 -3.23489641e-01 8.90850787e-01 1.67026945e+02] [ 1.52339589e-01 9.45225321e-01 2.88689699e-01 -6.42416905e+01] [-9.35442848e-01 4.36296360e-02 3.50775046e-01 -6.96409160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:-64.25, Z:-69.67 [[ 3.23658347e-01 -3.44615992e-01 8.81183915e-01 1.67052911e+02] [ 1.53422165e-01 9.38102585e-01 3.10524039e-01 -6.42478640e+01] [-9.33652459e-01 3.46894469e-02 3.56496464e-01 -6.96688239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-64.23, Z:-69.70 [[ 3.15211228e-01 -3.15347152e-01 8.95096674e-01 1.67039857e+02] [ 1.53199139e-01 9.47716215e-01 2.79935707e-01 -6.42278371e+01] [-9.36574560e-01 4.88891617e-02 3.47041704e-01 -6.97024727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:-64.24, Z:-69.73 [[ 3.11534460e-01 -3.42589938e-01 8.86328615e-01 1.67062822e+02] [ 1.52097887e-01 9.38698762e-01 3.09371731e-01 -6.42354924e+01] [-9.37983216e-01 3.84287542e-02 3.44544217e-01 -6.97280755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:-64.23, Z:-69.76 [[ 3.13375754e-01 -3.35881784e-01 8.88244934e-01 1.67068602e+02] [ 1.52291620e-01 9.41028835e-01 3.02112551e-01 -6.42275885e+01] [-9.37338199e-01 4.05975113e-02 3.46047602e-01 -6.97587360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:-64.22, Z:-69.79 [[ 3.11391666e-01 -3.34335119e-01 8.89525300e-01 1.67073579e+02] [ 1.52659778e-01 9.41507080e-01 3.00432038e-01 -6.42212759e+01] [-9.37939349e-01 4.22427025e-02 3.44216983e-01 -6.97889237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:-64.23, Z:-69.81 [[ 3.07309111e-01 -3.60747221e-01 8.80580804e-01 1.67096245e+02] [ 1.50147642e-01 9.32149400e-01 3.29474099e-01 -6.42269706e+01] [-9.39689734e-01 3.09667390e-02 3.40623348e-01 -6.98144145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.08, Y:-64.21, Z:-69.85 [[ 3.09692986e-01 -3.30211247e-01 8.91656204e-01 1.67084567e+02] [ 1.50994304e-01 9.42939350e-01 2.96759335e-01 -6.42061918e+01] [-9.38770992e-01 4.27307230e-02 3.41881720e-01 -6.98475645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:-64.22, Z:-69.87 [[ 3.17006177e-01 -3.77994346e-01 8.69843296e-01 1.67127638e+02] [ 1.50139447e-01 9.25582273e-01 3.47499067e-01 -6.42221398e+01] [-9.36464217e-01 2.04384407e-02 3.50167160e-01 -6.98733201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:-64.19, Z:-69.91 [[ 3.15998365e-01 -3.28755280e-01 8.89980337e-01 1.67106438e+02] [ 1.49150901e-01 9.43595787e-01 2.95602774e-01 -6.41925078e+01] [-9.36962668e-01 3.93313762e-02 3.47208872e-01 -6.99101379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-64.21, Z:-69.93 [[ 3.09737147e-01 -3.67112009e-01 8.77092739e-01 1.67136405e+02] [ 1.46315794e-01 9.29872573e-01 3.37533237e-01 -6.42053090e+01] [-9.39496987e-01 2.37859388e-02 3.41730363e-01 -6.99348541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-64.19, Z:-69.97 [[ 3.14746099e-01 -3.48218849e-01 8.82994070e-01 1.67137945e+02] [ 1.46332713e-01 9.36954312e-01 3.17337920e-01 -6.41908252e+01] [-9.37828146e-01 2.93300453e-02 3.45858523e-01 -6.99676660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-64.19, Z:-70.00 [[ 3.16408631e-01 -3.54224351e-01 8.80006072e-01 1.67153888e+02] [ 1.44022730e-01 9.34850888e-01 3.24516981e-01 -6.41865128e+01] [-9.37626275e-01 2.40609034e-02 3.46811248e-01 -6.99963085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:-64.18, Z:-70.03 [[ 3.18263089e-01 -3.42821073e-01 8.83845189e-01 1.67159638e+02] [ 1.42485149e-01 9.39031252e-01 3.12918983e-01 -6.41756107e+01] [-9.37233476e-01 2.63442510e-02 3.47705899e-01 -7.00268059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:-64.16, Z:-70.06 [[ 3.16982938e-01 -3.23634077e-01 8.91505918e-01 1.67156215e+02] [ 1.40495681e-01 9.45631778e-01 2.93328321e-01 -6.41605831e+01] [-9.37967367e-01 3.22726583e-02 3.45218329e-01 -7.00575309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-64.15, Z:-70.09 [[ 3.12241229e-01 -3.19276095e-01 8.94744762e-01 1.67152810e+02] [ 1.38889649e-01 9.47055739e-01 2.89473819e-01 -6.41498029e+01] [-9.39795233e-01 3.38851246e-02 3.40053993e-01 -7.00875501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:-64.16, Z:-70.12 [[ 3.11753700e-01 -3.58011160e-01 8.80135012e-01 1.67181255e+02] [ 1.37179212e-01 9.33553314e-01 3.31149624e-01 -6.41635320e+01] [-9.40208219e-01 1.74991065e-02 3.40150388e-01 -7.01151570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:-64.16, Z:-70.15 [[ 3.12409381e-01 -3.56919246e-01 8.80345972e-01 1.67190271e+02] [ 1.35973437e-01 9.33989881e-01 3.30415082e-01 -6.41571973e+01] [-9.40165732e-01 1.64788966e-02 3.40318737e-01 -7.01454613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-64.15, Z:-70.18 [[ 3.12827360e-01 -3.55562165e-01 8.80746609e-01 1.67199085e+02] [ 1.32950783e-01 9.34550102e-01 3.30060897e-01 -6.41492900e+01] [-9.40459001e-01 1.38438724e-02 3.39625110e-01 -7.01766482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-64.16, Z:-70.20 [[ 3.19785633e-01 -3.83394682e-01 8.66455808e-01 1.67233628e+02] [ 1.31385755e-01 9.23583629e-01 3.60181987e-01 -6.41579810e+01] [-9.38336258e-01 -1.34107486e-03 3.45721375e-01 -7.02044887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:-64.12, Z:-70.24 [[ 3.21055513e-01 -3.26331418e-01 8.89061957e-01 1.67215278e+02] [ 1.30084529e-01 9.45057019e-01 2.99908729e-01 -6.41243302e+01] [-9.38083884e-01 1.93658546e-02 3.45866435e-01 -7.02412085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-64.10, Z:-70.27 [[ 3.16495296e-01 -2.97241480e-01 9.00820865e-01 1.67203344e+02] [ 1.29819882e-01 9.54275225e-01 2.69268627e-01 -6.41020239e+01] [-9.39668838e-01 3.17222044e-02 3.40611474e-01 -7.02717486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-64.12, Z:-70.30 [[ 3.11472146e-01 -3.52911509e-01 8.82291658e-01 1.67233809e+02] [ 1.30351284e-01 9.35569403e-01 3.28204866e-01 -6.41243111e+01] [-9.41272354e-01 1.27811760e-02 3.37406278e-01 -7.02982660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:-64.13, Z:-70.33 [[ 3.17909934e-01 -3.82930032e-01 8.67351062e-01 1.67269599e+02] [ 1.29707339e-01 9.23775094e-01 3.60299294e-01 -6.41349732e+01] [-9.39206729e-01 -2.04092596e-03 3.43346115e-01 -7.03260170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:-64.08, Z:-70.36 [[ 3.11553607e-01 -2.92719901e-01 9.04018479e-01 1.67223880e+02] [ 1.31787635e-01 9.55486028e-01 2.63966797e-01 -6.40809236e+01] [-9.41045360e-01 3.68986492e-02 3.36261982e-01 -7.03633614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:-64.11, Z:-70.39 [[ 3.10677110e-01 -3.52674220e-01 8.82666771e-01 1.67260187e+02] [ 1.32297068e-01 9.35624338e-01 3.27268367e-01 -6.41068385e+01] [-9.41263629e-01 1.50994351e-02 3.37334831e-01 -7.03896068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:-64.10, Z:-70.42 [[ 3.10714329e-01 -3.52174178e-01 8.82853303e-01 1.67269218e+02] [ 1.32909378e-01 9.35799656e-01 3.26518149e-01 -6.41014327e+01] [-9.41165078e-01 1.58856161e-02 3.37573613e-01 -7.04209705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:-64.10, Z:-70.45 [[ 3.10179271e-01 -3.51824807e-01 8.83180687e-01 1.67278107e+02] [ 1.33866591e-01 9.35908427e-01 3.25814598e-01 -6.40963922e+01] [-9.41205905e-01 1.71674532e-02 3.37396981e-01 -7.04516627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:-64.09, Z:-70.48 [[ 3.09138919e-01 -3.51991543e-01 8.83478965e-01 1.67286617e+02] [ 1.35540297e-01 9.35807278e-01 3.25412917e-01 -6.40903567e+01] [-9.41308640e-01 1.91492042e-02 3.37003489e-01 -7.04834505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:-64.09, Z:-70.51 [[ 3.08937874e-01 -3.51617606e-01 8.83698166e-01 1.67295930e+02] [ 1.36546013e-01 9.35922172e-01 3.24661168e-01 -6.40851236e+01] [-9.41229290e-01 2.03653303e-02 3.37153788e-01 -7.05144818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:-64.08, Z:-70.55 [[ 3.09212873e-01 -3.51479699e-01 8.83656846e-01 1.67304521e+02] [ 1.38473326e-01 9.35931434e-01 3.23817061e-01 -6.40794298e+01] [-9.40857341e-01 2.22344988e-02 3.38072611e-01 -7.05450598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:-64.07, Z:-70.58 [[ 3.08909019e-01 -3.51319779e-01 8.83826697e-01 1.67313929e+02] [ 1.39279763e-01 9.35967827e-01 3.23365696e-01 -6.40749638e+01] [-9.40838119e-01 2.32085934e-02 3.38060639e-01 -7.05762517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:-64.07, Z:-70.61 [[ 3.08924347e-01 -3.50800566e-01 8.84027551e-01 1.67323716e+02] [ 1.39817271e-01 9.36144225e-01 3.22622258e-01 -6.40705626e+01] [-9.40753357e-01 2.39364495e-02 3.38245721e-01 -7.06068439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:-64.07, Z:-70.64 [[ 3.07725696e-01 -3.50783722e-01 8.84452190e-01 1.67332538e+02] [ 1.41547110e-01 9.36092747e-01 3.22016745e-01 -6.40652789e+01] [-9.40887513e-01 2.60988247e-02 3.37712215e-01 -7.06375261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-64.06, Z:-70.67 [[ 3.06981206e-01 -3.50451409e-01 8.84842556e-01 1.67341942e+02] [ 1.42319683e-01 9.36184014e-01 3.21410331e-01 -6.40602432e+01] [-9.41014159e-01 2.72635811e-02 3.37267030e-01 -7.06685567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:-64.05, Z:-70.70 [[ 3.06085238e-01 -3.50293957e-01 8.85215212e-01 1.67350681e+02] [ 1.43776726e-01 9.36187770e-01 3.20750233e-01 -6.40545822e+01] [-9.41084523e-01 2.90964337e-02 3.36917375e-01 -7.06992656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:-64.05, Z:-70.73 [[ 3.06060522e-01 -3.49802518e-01 8.85418068e-01 1.67360339e+02] [ 1.44189106e-01 9.36352471e-01 3.20083663e-01 -6.40498052e+01] [-9.41029467e-01 2.97026665e-02 3.37018239e-01 -7.07302893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:-64.08, Z:-70.75 [[ 3.21947351e-01 -4.29384932e-01 8.43788175e-01 1.67438663e+02] [ 1.44210023e-01 9.03081045e-01 4.04534418e-01 -6.40832179e+01] [-9.35710090e-01 -8.55607166e-03 3.52666161e-01 -7.07453888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-63.99, Z:-70.80 [[ 3.03005249e-01 -2.60460872e-01 9.16704943e-01 1.67340633e+02] [ 1.44259689e-01 9.63377250e-01 2.26038527e-01 -6.39935410e+01] [-9.42006880e-01 6.37527098e-02 3.29482368e-01 -7.07965688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:-64.04, Z:-70.82 [[ 2.99807316e-01 -3.49680147e-01 8.87603159e-01 1.67387743e+02] [ 1.43577097e-01 9.36343282e-01 3.20385511e-01 -6.40376012e+01] [-9.43133708e-01 3.13855648e-02 3.30928626e-01 -7.08205543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:-64.03, Z:-70.85 [[ 2.99583274e-01 -3.49005545e-01 8.87944250e-01 1.67397347e+02] [ 1.43425228e-01 9.36588862e-01 3.19735059e-01 -6.40323138e+01] [-9.43228003e-01 3.15663302e-02 3.30642558e-01 -7.08520416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:-64.03, Z:-70.88 [[ 2.99248124e-01 -3.48075151e-01 8.88422337e-01 1.67406607e+02] [ 1.42548323e-01 9.36948593e-01 3.19072578e-01 -6.40276987e+01] [-9.43467295e-01 3.11612441e-02 3.29997638e-01 -7.08833901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:-64.02, Z:-70.91 [[ 3.00213740e-01 -3.46722097e-01 8.88625623e-01 1.67415458e+02] [ 1.40546001e-01 9.37509197e-01 3.18313254e-01 -6.40214551e+01] [-9.43460933e-01 2.93307647e-02 3.30183547e-01 -7.09133639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:-64.02, Z:-70.95 [[ 3.00274655e-01 -3.46039073e-01 8.88871246e-01 1.67425557e+02] [ 1.40443216e-01 9.37757445e-01 3.17626631e-01 -6.40174935e+01] [-9.43456854e-01 2.94607088e-02 3.30183634e-01 -7.09450412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:-64.01, Z:-70.98 [[ 3.00333248e-01 -3.45302705e-01 8.89137775e-01 1.67435241e+02] [ 1.38956101e-01 9.38066537e-01 3.17367886e-01 -6.40128284e+01] [-9.43658382e-01 2.82349902e-02 3.29714487e-01 -7.09766716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:-64.01, Z:-71.01 [[ 3.00951074e-01 -3.44158955e-01 8.89372287e-01 1.67445276e+02] [ 1.37536271e-01 9.38522286e-01 3.16638110e-01 -6.40080014e+01] [-9.43669553e-01 2.70283680e-02 3.29783629e-01 -7.10080517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:-64.00, Z:-71.04 [[ 3.01153833e-01 -3.42791853e-01 8.89831509e-01 1.67454739e+02] [ 1.35257367e-01 9.39073426e-01 3.15985040e-01 -6.40033683e+01] [-9.43934221e-01 2.51961612e-02 3.29170685e-01 -7.10392632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:-64.00, Z:-71.07 [[ 3.01494680e-01 -3.41780401e-01 8.90105115e-01 1.67464506e+02] [ 1.34225471e-01 9.39462435e-01 3.15267913e-01 -6.39990828e+01] [-9.43972712e-01 2.44231793e-02 3.29118562e-01 -7.10704861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:-63.99, Z:-71.10 [[ 3.01816359e-01 -3.40747433e-01 8.90392089e-01 1.67474105e+02] [ 1.33101964e-01 9.39859289e-01 3.14560622e-01 -6.39949945e+01] [-9.44029000e-01 2.35733942e-02 3.29019061e-01 -7.11016469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-63.99, Z:-71.13 [[ 3.01756351e-01 -3.39554103e-01 8.90868181e-01 1.67482950e+02] [ 1.31384440e-01 9.40321549e-01 3.13900482e-01 -6.39906200e+01] [-9.44288745e-01 2.23247527e-02 3.28360125e-01 -7.11315773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:-63.99, Z:-71.16 [[ 3.02532914e-01 -3.38632898e-01 8.90955440e-01 1.67493115e+02] [ 1.30664099e-01 9.40668892e-01 3.13159591e-01 -6.39864555e+01] [-9.44140206e-01 2.16748063e-02 3.28830464e-01 -7.11629143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:-63.98, Z:-71.19 [[ 3.02503259e-01 -3.37613886e-01 8.91352143e-01 1.67502254e+02] [ 1.29526636e-01 9.41052019e-01 3.12480316e-01 -6.39828424e+01] [-9.44306428e-01 2.09275305e-02 3.28401293e-01 -7.11929203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:-63.98, Z:-71.22 [[ 3.02369233e-01 -3.36518371e-01 8.91811770e-01 1.67512471e+02] [ 1.27936304e-01 9.41468877e-01 3.11879233e-01 -6.39797124e+01] [-9.44566117e-01 1.97924172e-02 3.27724139e-01 -7.12239219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:-63.98, Z:-71.25 [[ 3.02497909e-01 -3.35694887e-01 8.92078448e-01 1.67522188e+02] [ 1.27545255e-01 9.41765583e-01 3.11142723e-01 -6.39763693e+01] [-9.44577801e-01 1.96603496e-02 3.27698410e-01 -7.12544304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:-63.97, Z:-71.29 [[ 3.02748936e-01 -3.35010033e-01 8.92250727e-01 1.67532391e+02] [ 1.26758064e-01 9.42022169e-01 3.10687344e-01 -6.39729171e+01] [-9.44603343e-01 1.90397121e-02 3.27661433e-01 -7.12859791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:-63.97, Z:-71.32 [[ 3.03178511e-01 -3.33998198e-01 8.92484170e-01 1.67541805e+02] [ 1.25850248e-01 9.42394945e-01 3.09924962e-01 -6.39697581e+01] [-9.44586950e-01 1.83567660e-02 3.27747652e-01 -7.13162455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:-63.97, Z:-71.35 [[ 3.03304207e-01 -3.33124335e-01 8.92768019e-01 1.67551483e+02] [ 1.25163049e-01 9.42712063e-01 3.09238060e-01 -6.39665088e+01] [-9.44637904e-01 1.79483631e-02 3.27623392e-01 -7.13471563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:-63.96, Z:-71.38 [[ 3.03605500e-01 -3.32239563e-01 8.92995282e-01 1.67561627e+02] [ 1.24573545e-01 9.43031174e-01 3.08502248e-01 -6.39631949e+01] [-9.44619041e-01 1.75806089e-02 3.27697711e-01 -7.13784994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67361786499995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:167.57, Y:-63.96, Z:-71.41 [[ 3.03925050e-01 -3.31442803e-01 8.93182642e-01 1.67571683e+02] [ 1.24306643e-01 9.43313067e-01 3.07747163e-01 -6.39606848e+01] [-9.44551440e-01 1.74964636e-02 3.27897013e-01 -7.14088908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:-63.96, Z:-71.44 [[ 3.04075402e-01 -3.30745667e-01 8.93389867e-01 1.67582425e+02] [ 1.24168863e-01 9.43556486e-01 3.07055779e-01 -6.39577539e+01] [-9.44521172e-01 1.75630946e-02 3.27980631e-01 -7.14404121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:-63.95, Z:-71.47 [[ 3.04137489e-01 -3.30011088e-01 8.93640347e-01 1.67592432e+02] [ 1.24076191e-01 9.43810746e-01 3.06310912e-01 -6.39548680e+01] [-9.44513360e-01 1.77188586e-02 3.27994749e-01 -7.14707436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:-63.95, Z:-71.50 [[ 3.04480037e-01 -3.29411673e-01 8.93744850e-01 1.67602664e+02] [ 1.24353107e-01 9.44012920e-01 3.05574725e-01 -6.39516901e+01] [-9.44366566e-01 1.80985452e-02 3.28396454e-01 -7.15022118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:-63.95, Z:-71.53 [[ 3.04472206e-01 -3.28999560e-01 8.93899304e-01 1.67613416e+02] [ 1.25272224e-01 9.44135446e-01 3.04819832e-01 -6.39497566e+01] [-9.44247608e-01 1.91715876e-02 3.28677509e-01 -7.15336327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-63.95, Z:-71.56 [[ 3.04312745e-01 -3.28543602e-01 8.94121275e-01 1.67623459e+02] [ 1.26041846e-01 9.44273556e-01 3.04073847e-01 -6.39474643e+01] [-9.44196593e-01 2.01631492e-02 3.28764720e-01 -7.15638094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:-63.99, Z:-71.58 [[ 3.24423715e-01 -4.16101963e-01 8.49475373e-01 1.67709607e+02] [ 1.31610039e-01 9.09170534e-01 3.95079407e-01 -6.39852070e+01] [-9.36711295e-01 -1.63736416e-02 3.49719678e-01 -7.15773300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:-63.89, Z:-71.63 [[ 3.05657538e-01 -2.23045961e-01 9.25647864e-01 1.67601750e+02] [ 1.28313450e-01 9.72955718e-01 1.92075060e-01 -6.38878713e+01] [-9.43455949e-01 6.00638808e-02 3.26011046e-01 -7.16327418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:-63.94, Z:-71.66 [[ 3.02884349e-01 -3.28707306e-01 8.94546018e-01 1.67655002e+02] [ 1.27948764e-01 9.44163905e-01 3.03617579e-01 -6.39434785e+01] [-9.44399378e-01 2.24950443e-02 3.28030163e-01 -7.16559207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-63.94, Z:-71.69 [[ 3.03089890e-01 -3.28182966e-01 8.94668910e-01 1.67665284e+02] [ 1.28594595e-01 9.44327670e-01 3.02834413e-01 -6.39423379e+01] [-9.44245704e-01 2.32635377e-02 3.28418725e-01 -7.16860121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-63.97, Z:-71.70 [[ 3.22330755e-01 -4.06648330e-01 8.54833329e-01 1.67744490e+02] [ 1.32840420e-01 9.13525883e-01 3.84478718e-01 -6.39734833e+01] [-9.37260000e-01 -1.03728969e-02 3.48476823e-01 -7.17004792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-63.89, Z:-71.75 [[ 3.05479914e-01 -2.32251364e-01 9.23439942e-01 1.67645008e+02] [ 1.28940269e-01 9.70954717e-01 2.01547374e-01 -6.38858820e+01] [-9.43428020e-01 5.74999199e-02 3.26553717e-01 -7.17548710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:-63.94, Z:-71.78 [[ 3.03610649e-01 -3.27149685e-01 8.94870749e-01 1.67695276e+02] [ 1.27048041e-01 9.44718271e-01 3.02268397e-01 -6.39367685e+01] [-9.44287758e-01 2.19196712e-02 3.28390254e-01 -7.17776903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:-63.96, Z:-71.79 [[ 3.21407290e-01 -3.95623974e-01 8.60336577e-01 1.67767341e+02] [ 1.29100406e-01 9.18366881e-01 3.74079346e-01 -6.39645100e+01] [-9.38099376e-01 -9.16202758e-03 3.46245026e-01 -7.17933218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:-63.93, Z:-71.83 [[ 3.22413722e-01 -3.25571731e-01 8.88848941e-01 1.67745638e+02] [ 1.26130062e-01 9.45394921e-01 3.00532280e-01 -6.39283157e+01] [-9.38158089e-01 1.52148413e-02 3.45872678e-01 -7.18301629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:-63.87, Z:-71.88 [[ 3.04663437e-01 -2.19198381e-01 9.26893877e-01 1.67681179e+02] [ 1.20941204e-01 9.74183610e-01 1.90629274e-01 -6.38745733e+01] [-9.44750451e-01 5.40218920e-02 3.23308243e-01 -7.18750934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-63.93, Z:-71.90 [[ 3.03470419e-01 -3.24700681e-01 8.95809786e-01 1.67736092e+02] [ 1.19607039e-01 9.45691158e-01 3.02262120e-01 -6.39293073e+01] [-9.45304110e-01 1.54175440e-02 3.25825779e-01 -7.18981426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:-63.93, Z:-71.93 [[ 3.04400237e-01 -3.23599199e-01 8.95892881e-01 1.67746768e+02] [ 1.18521399e-01 9.46084385e-01 3.01458146e-01 -6.39266376e+01] [-9.45141880e-01 1.44185462e-02 3.26341741e-01 -7.19294305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:-63.93, Z:-71.96 [[ 3.05740624e-01 -3.22323801e-01 8.95896221e-01 1.67757563e+02] [ 1.16996604e-01 9.46541498e-01 3.00617675e-01 -6.39262502e+01] [-9.44899183e-01 1.29057798e-02 3.27106978e-01 -7.19598475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:-63.94, Z:-71.98 [[ 3.17452201e-01 -3.69936281e-01 8.73138734e-01 1.67808376e+02] [ 1.19667401e-01 9.29033279e-01 3.50109811e-01 -6.39443370e+01] [-9.40693262e-01 -6.65688713e-03 3.39192972e-01 -7.19788432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:-63.91, Z:-72.02 [[ 3.16083820e-01 -3.11273541e-01 8.96214150e-01 1.67787068e+02] [ 1.17957680e-01 9.50208983e-01 2.88424815e-01 -6.39145337e+01] [-9.41369749e-01 1.45489248e-02 3.37062790e-01 -7.20155291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-63.92, Z:-72.05 [[ 3.15913017e-01 -3.15485850e-01 8.94800338e-01 1.67799482e+02] [ 1.17591068e-01 9.48845959e-01 2.93025062e-01 -6.39169314e+01] [-9.41472945e-01 1.26500963e-02 3.36851108e-01 -7.20455971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:-63.92, Z:-72.08 [[ 3.13624052e-01 -3.21791493e-01 8.93358936e-01 1.67810261e+02] [ 1.17494626e-01 9.46747256e-01 2.99774325e-01 -6.39184901e+01] [-9.42249949e-01 1.09484356e-02 3.34731482e-01 -7.20751622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:-63.91, Z:-72.11 [[ 3.10132291e-01 -3.08696097e-01 8.99180006e-01 1.67811330e+02] [ 1.16936061e-01 9.51019348e-01 2.86161069e-01 -6.39132116e+01] [-9.43474388e-01 1.63987803e-02 3.31039514e-01 -7.21065079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:-63.92, Z:-72.14 [[ 3.10848398e-01 -3.26925399e-01 8.92464597e-01 1.67832280e+02] [ 1.16599179e-01 9.45006550e-01 3.05560552e-01 -6.39219031e+01] [-9.43280396e-01 9.07763124e-03 3.31873005e-01 -7.21355165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:-63.92, Z:-72.17 [[ 3.10274434e-01 -3.13905538e-01 8.97325520e-01 1.67835625e+02] [ 1.16280707e-01 9.49354320e-01 2.91899252e-01 -6.39153092e+01] [-9.43508650e-01 1.37727705e-02 3.31061532e-01 -7.21677007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:-63.92, Z:-72.20 [[ 3.09158227e-01 -3.17471872e-01 8.96455688e-01 1.67846343e+02] [ 1.17020295e-01 9.48170604e-01 2.95429783e-01 -6.39160468e+01] [-9.43783578e-01 1.35689609e-02 3.30285395e-01 -7.21960949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:-63.92, Z:-72.23 [[ 3.09257945e-01 -3.21564290e-01 8.94961413e-01 1.67860711e+02] [ 1.18295805e-01 9.46794252e-01 2.99310451e-01 -6.39187123e+01] [-9.43591875e-01 1.33060459e-02 3.30843352e-01 -7.22268630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:-63.91, Z:-72.26 [[ 3.08900167e-01 -3.08816199e-01 8.99562806e-01 1.67863060e+02] [ 1.19255301e-01 9.50930202e-01 2.85499430e-01 -6.39109237e+01] [-9.43588289e-01 1.90868118e-02 3.30570467e-01 -7.22587571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:-63.91, Z:-72.29 [[ 3.06789869e-01 -3.13047586e-01 8.98822110e-01 1.67873357e+02] [ 1.19683643e-01 9.49554381e-01 2.89866009e-01 -6.39121083e+01] [-9.44222327e-01 1.86463494e-02 3.28780339e-01 -7.22895922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:-63.92, Z:-72.32 [[ 3.07884668e-01 -3.20598448e-01 8.95781037e-01 1.67888733e+02] [ 1.21372327e-01 9.47058858e-01 2.97234381e-01 -6.39174263e+01] [-9.43650248e-01 1.72091205e-02 3.30496682e-01 -7.23194308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:-63.91, Z:-72.35 [[ 3.09354119e-01 -3.14430134e-01 8.97459593e-01 1.67896821e+02] [ 1.22534227e-01 9.49066262e-01 2.90273307e-01 -6.39133017e+01] [-9.43019296e-01 2.01722739e-02 3.32126011e-01 -7.23500646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:-63.91, Z:-72.38 [[ 3.07930240e-01 -3.01805190e-01 9.02270799e-01 1.67899105e+02] [ 1.23652337e-01 9.53003962e-01 2.76574670e-01 -6.39092117e+01] [-9.43339317e-01 2.64021880e-02 3.30777656e-01 -7.23832371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:-63.91, Z:-72.41 [[ 3.08566702e-01 -3.14565016e-01 8.97683375e-01 1.67916836e+02] [ 1.24385718e-01 9.48975320e-01 2.89782738e-01 -6.39148066e+01] [-9.43034879e-01 2.22416880e-02 3.31949580e-01 -7.24121506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:-63.90, Z:-72.44 [[ 3.08968926e-01 -2.93037318e-01 9.04802372e-01 1.67915003e+02] [ 1.25274103e-01 9.55600161e-01 2.66710953e-01 -6.39024965e+01] [-9.42785554e-01 3.09429089e-02 3.31960743e-01 -7.24443811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:-63.92, Z:-72.47 [[ 3.04784649e-01 -3.17576183e-01 8.97915189e-01 1.67936771e+02] [ 1.25263933e-01 9.47947684e-01 2.92752686e-01 -6.39168458e+01] [-9.44147904e-01 2.32498631e-02 3.28700744e-01 -7.24729257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.95, Y:-63.92, Z:-72.50 [[ 3.04864640e-01 -3.17157713e-01 8.98035933e-01 1.67947211e+02] [ 1.25517478e-01 9.48078339e-01 2.92220509e-01 -6.39159497e+01] [-9.44088404e-01 2.36315052e-02 3.28844398e-01 -7.25041209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:-63.91, Z:-72.54 [[ 3.04504979e-01 -3.16938799e-01 8.98235223e-01 1.67954076e+02] [ 1.27114398e-01 9.48104936e-01 2.91442893e-01 -6.39144971e+01] [-9.43990809e-01 2.54328170e-02 3.28990158e-01 -7.25360411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:-63.92, Z:-72.56 [[ 3.04742791e-01 -3.29840199e-01 8.93497216e-01 1.67974933e+02] [ 1.25693530e-01 9.43841696e-01 3.05555217e-01 -6.39232219e+01] [-9.44104320e-01 1.91910690e-02 3.29087732e-01 -7.25625729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:-63.91, Z:-72.60 [[ 3.06448708e-01 -3.01521338e-01 9.02869909e-01 1.67973166e+02] [ 1.22999238e-01 9.53096500e-01 2.76547011e-01 -6.39096653e+01] [-9.43906975e-01 2.63048360e-02 3.29162086e-01 -7.25952815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:-63.91, Z:-72.63 [[ 3.06388814e-01 -3.13809427e-01 8.98693239e-01 1.67990649e+02] [ 1.21293554e-01 9.49272863e-01 2.90118779e-01 -6.39149916e+01] [-9.44147112e-01 2.01165483e-02 3.28909647e-01 -7.26250560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-63.93, Z:-72.65 [[ 3.10419406e-01 -3.40083287e-01 8.87684150e-01 1.68019792e+02] [ 1.20777535e-01 9.40356992e-01 3.18027539e-01 -6.39262453e+01] [-9.42895848e-01 8.49038372e-03 3.32979480e-01 -7.26519147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:-63.90, Z:-72.69 [[ 3.08204396e-01 -2.75713621e-01 9.10490005e-01 1.67994263e+02] [ 1.15249093e-01 9.60852631e-01 2.51952114e-01 -6.38968823e+01] [-9.44313347e-01 2.72803986e-02 3.27914749e-01 -7.26892947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-63.91, Z:-72.72 [[ 3.08726632e-01 -3.10339990e-01 8.99097857e-01 1.68020619e+02] [ 1.15233998e-01 9.50514534e-01 2.88519058e-01 -6.39124769e+01] [-9.44144582e-01 1.45331236e-02 3.29210869e-01 -7.27174852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:-63.91, Z:-72.75 [[ 3.08516836e-01 -3.08058474e-01 8.99954076e-01 1.68034623e+02] [ 1.10043585e-01 9.51312661e-01 2.87914277e-01 -6.39138498e+01] [-9.44832139e-01 1.02077713e-02 3.27395831e-01 -7.27468350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-63.91, Z:-72.78 [[ 3.08893809e-01 -3.06859150e-01 9.00234457e-01 1.68045256e+02] [ 1.08465658e-01 9.51713010e-01 2.87189046e-01 -6.39124458e+01] [-9.44891431e-01 8.93360453e-03 3.27261936e-01 -7.27785306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:-63.91, Z:-72.81 [[ 3.08903450e-01 -3.05827684e-01 9.00582082e-01 1.68055864e+02] [ 1.07448731e-01 9.52050868e-01 2.86450546e-01 -6.39108194e+01] [-9.45004460e-01 8.28083981e-03 3.26952594e-01 -7.28100974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:-63.91, Z:-72.84 [[ 3.08583408e-01 -3.04796016e-01 9.01041436e-01 1.68066904e+02] [ 1.06372850e-01 9.52386743e-01 2.85734683e-01 -6.39115310e+01] [-9.45230711e-01 7.67336307e-03 3.26312768e-01 -7.28401702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:-63.91, Z:-72.87 [[ 3.08645957e-01 -3.04050900e-01 9.01271726e-01 1.68076613e+02] [ 1.06196766e-01 9.52624298e-01 2.85007357e-01 -6.39081059e+01] [-9.45230089e-01 7.74577428e-03 3.26312860e-01 -7.28719995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.09, Y:-63.91, Z:-72.90 [[ 3.08108747e-01 -3.03537058e-01 9.01628668e-01 1.68087274e+02] [ 1.05927643e-01 9.52787449e-01 2.84561788e-01 -6.39066728e+01] [-9.45435526e-01 7.83142393e-03 3.25715113e-01 -7.29036823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:-63.90, Z:-72.93 [[ 3.08211669e-01 -3.02830469e-01 9.01831068e-01 1.68097928e+02] [ 1.05908542e-01 9.53010572e-01 2.83820772e-01 -6.39045748e+01] [-9.45404119e-01 8.03473933e-03 3.25801312e-01 -7.29345358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:-63.90, Z:-72.96 [[ 3.07830346e-01 -2.96418534e-01 9.04088785e-01 1.68102517e+02] [ 1.04749647e-01 9.55012901e-01 2.77448862e-01 -6.38982921e+01] [-9.45657438e-01 9.29580202e-03 3.25031689e-01 -7.29649478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:168.12, Y:-63.90, Z:-72.99 [[ 3.07218055e-01 -3.08054126e-01 9.00399757e-01 1.68120300e+02] [ 1.04702644e-01 9.51354325e-01 2.89762497e-01 -6.39023549e+01] [-9.45861736e-01 5.25396415e-03 3.24527307e-01 -7.29940995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.13, Y:-63.90, Z:-73.03 [[ 3.07333004e-01 -3.01029036e-01 9.02733595e-01 1.68126894e+02] [ 1.05422720e-01 9.53577339e-01 2.82092732e-01 -6.38968665e+01] [-9.45744402e-01 8.47222460e-03 3.24801088e-01 -7.30263604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-63.89, Z:-73.06 [[ 3.05954764e-01 -3.00888164e-01 9.03248579e-01 1.68136199e+02] [ 1.07093262e-01 9.53600069e-01 2.81385752e-01 -6.38945119e+01] [-9.46003549e-01 1.06405258e-02 3.23981579e-01 -7.30566818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-63.89, Z:-73.09 [[ 3.08703534e-01 -2.88015635e-01 9.06503790e-01 1.68139115e+02] [ 1.09208531e-01 9.57482388e-01 2.67022423e-01 -6.38858836e+01] [-9.44868046e-01 1.65671816e-02 3.27031961e-01 -7.30897420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:-63.89, Z:-73.12 [[ 3.04267930e-01 -3.13220731e-01 8.99618697e-01 1.68162427e+02] [ 1.09565097e-01 9.49635398e-01 2.93578100e-01 -6.38946179e+01] [-9.46264507e-01 9.24040865e-03 3.23261656e-01 -7.31173090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:-63.88, Z:-73.15 [[ 3.03039625e-01 -3.01207379e-01 9.04124494e-01 1.68164866e+02] [ 1.11392448e-01 9.53428221e-01 2.80296896e-01 -6.38840421e+01] [-9.46445301e-01 1.57715744e-02 3.22478758e-01 -7.31506766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-63.88, Z:-73.18 [[ 3.02725595e-01 -3.00817955e-01 9.04359316e-01 1.68173132e+02] [ 1.12463644e-01 9.53528486e-01 2.79527022e-01 -6.38795921e+01] [-9.46419116e-01 1.70875602e-02 3.22488561e-01 -7.31809704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:-63.88, Z:-73.21 [[ 3.02425372e-01 -3.00415516e-01 9.04593507e-01 1.68182216e+02] [ 1.13323010e-01 9.53634957e-01 2.78815824e-01 -6.38763756e+01] [-9.46412590e-01 1.81902800e-02 3.22447397e-01 -7.32120098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:-63.87, Z:-73.24 [[ 3.03010360e-01 -2.97067857e-01 9.05502849e-01 1.68189819e+02] [ 1.16294090e-01 9.54598234e-01 2.74258814e-01 -6.38715751e+01] [-9.45864899e-01 2.22013680e-02 3.23800391e-01 -7.32441537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-63.87, Z:-73.27 [[ 3.01791970e-01 -3.01895196e-01 9.04312390e-01 1.68201536e+02] [ 1.16763636e-01 9.53102571e-01 2.79216300e-01 -6.38704016e+01] [-9.46196523e-01 2.13255656e-02 3.22889083e-01 -7.32725210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:168.21, Y:-63.87, Z:-73.30 [[ 3.01362416e-01 -3.00149718e-01 9.05036376e-01 1.68209664e+02] [ 1.17551931e-01 9.53617770e-01 2.77118553e-01 -6.38660981e+01] [-9.46235826e-01 2.28756568e-02 3.22667734e-01 -7.33043140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:-63.86, Z:-73.34 [[ 3.00910212e-01 -3.00047298e-01 9.05220782e-01 1.68219408e+02] [ 1.19584147e-01 9.53594057e-01 2.76329525e-01 -6.38621904e+01] [-9.46125085e-01 2.50996793e-02 3.22827090e-01 -7.33359276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:-63.86, Z:-73.37 [[ 3.00588533e-01 -2.99614899e-01 9.05470842e-01 1.68228674e+02] [ 1.20540160e-01 9.53697208e-01 2.75557081e-01 -6.38583193e+01] [-9.46106021e-01 2.63163013e-02 3.22786072e-01 -7.33657553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:-63.85, Z:-73.40 [[ 2.99552348e-01 -2.99138539e-01 9.05971592e-01 1.68237705e+02] [ 1.21032219e-01 9.53819107e-01 2.74918740e-01 -6.38543550e+01] [-9.46371805e-01 2.72991978e-02 3.21924154e-01 -7.33966727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:-63.85, Z:-73.43 [[ 2.98181541e-01 -2.98967072e-01 9.06480258e-01 1.68247233e+02] [ 1.22673918e-01 9.53809409e-01 2.74223852e-01 -6.38500341e+01] [-9.46593302e-01 2.94329945e-02 3.21083821e-01 -7.34283016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:-63.85, Z:-73.46 [[ 2.97361849e-01 -2.98428731e-01 9.06926802e-01 1.68257254e+02] [ 1.23198621e-01 9.53947607e-01 2.73506972e-01 -6.38464953e+01] [-9.46782990e-01 3.04015922e-02 3.20433632e-01 -7.34597799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:-63.84, Z:-73.49 [[ 2.96290540e-01 -2.97851747e-01 9.07466943e-01 1.68266520e+02] [ 1.23568012e-01 9.54098793e-01 2.72812096e-01 -6.38429303e+01] [-9.47070674e-01 3.13022429e-02 3.19495395e-01 -7.34904994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:-63.84, Z:-73.52 [[ 2.94561790e-01 -2.97433081e-01 9.08166787e-01 1.68275883e+02] [ 1.24189536e-01 9.54186007e-01 2.72224216e-01 -6.38384378e+01] [-9.47528528e-01 3.25979596e-02 3.18004815e-01 -7.35219272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:-63.83, Z:-73.55 [[ 2.93651798e-01 -2.96692796e-01 9.08703475e-01 1.68284551e+02] [ 1.24038603e-01 9.54403359e-01 2.71530206e-01 -6.38349733e+01] [-9.47830705e-01 3.29789767e-02 3.17063623e-01 -7.35520308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:-63.83, Z:-73.58 [[ 2.95377415e-01 -2.96224604e-01 9.08296849e-01 1.68293954e+02] [ 1.25109207e-01 9.54523500e-01 2.70615177e-01 -6.38307818e+01] [-9.47153562e-01 3.37026869e-02 3.19005109e-01 -7.35835947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:-63.83, Z:-73.62 [[ 2.91353384e-01 -2.95732125e-01 9.09755855e-01 1.68298375e+02] [ 1.24709095e-01 9.54641286e-01 2.70384277e-01 -6.38265337e+01] [-9.48451816e-01 3.46774558e-02 3.15018455e-01 -7.36157229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:-63.83, Z:-73.64 [[ 2.92127400e-01 -3.00118465e-01 9.08069650e-01 1.68315013e+02] [ 1.22926832e-01 9.53393858e-01 2.75552438e-01 -6.38257767e+01] [-9.48446401e-01 3.11297080e-02 3.15405081e-01 -7.36444308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:-63.82, Z:-73.68 [[ 2.92779649e-01 -2.93745332e-01 9.09941623e-01 1.68321749e+02] [ 1.21916474e-01 9.55343638e-01 2.69174490e-01 -6.38198424e+01] [-9.48375691e-01 3.21280615e-02 3.15517571e-01 -7.36764694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:-63.82, Z:-73.71 [[ 2.92677371e-01 -2.92742971e-01 9.10297484e-01 1.68330887e+02] [ 1.21005130e-01 9.55669280e-01 2.68428734e-01 -6.38161937e+01] [-9.48523967e-01 3.15876488e-02 3.15126173e-01 -7.37079612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:-63.81, Z:-73.74 [[ 2.93504025e-01 -2.91560463e-01 9.10410833e-01 1.68339387e+02] [ 1.19627693e-01 9.56070362e-01 2.67616662e-01 -6.38115084e+01] [-9.48443252e-01 3.03637802e-02 3.15489205e-01 -7.37386789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:-63.81, Z:-73.77 [[ 2.93340890e-01 -2.90744365e-01 9.10724347e-01 1.68347937e+02] [ 1.19156770e-01 9.56323413e-01 2.66921700e-01 -6.38076427e+01] [-9.48552996e-01 3.02199226e-02 3.15172921e-01 -7.37697203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:-63.80, Z:-73.80 [[ 2.93355539e-01 -2.90013762e-01 9.10952548e-01 1.68356346e+02] [ 1.18213103e-01 9.56567182e-01 2.66467424e-01 -6.38035194e+01] [-9.48666533e-01 2.95168324e-02 3.14897708e-01 -7.38008286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:-63.80, Z:-73.83 [[ 2.92916187e-01 -2.89193651e-01 9.11354563e-01 1.68365348e+02] [ 1.17796604e-01 9.56815670e-01 2.65758789e-01 -6.37996256e+01] [-9.48854081e-01 2.95094212e-02 3.14332828e-01 -7.38322967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:-63.80, Z:-73.86 [[ 2.93259467e-01 -2.88350018e-01 9.11511466e-01 1.68374394e+02] [ 1.17438608e-01 9.57075501e-01 2.64980489e-01 -6.37960525e+01] [-9.48792421e-01 2.93386001e-02 3.14534876e-01 -7.38635945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:-63.79, Z:-73.89 [[ 2.93253479e-01 -2.87606972e-01 9.11748116e-01 1.68383443e+02] [ 1.17347622e-01 9.57293941e-01 2.64230667e-01 -6.37924366e+01] [-9.48805529e-01 2.95049111e-02 3.14479773e-01 -7.38948906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:-63.78, Z:-73.93 [[ 2.98022845e-01 -2.75606249e-01 9.13905673e-01 1.68383065e+02] [ 1.19858378e-01 9.60638659e-01 2.50613919e-01 -6.37817601e+01] [-9.47003882e-01 3.48505784e-02 3.19325984e-01 -7.39267602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:-63.79, Z:-73.95 [[ 2.94678254e-01 -2.96399818e-01 9.08466771e-01 1.68399874e+02] [ 1.18716657e-01 9.54670458e-01 2.72966432e-01 -6.37887454e+01] [-9.48193589e-01 2.74128663e-02 3.16508219e-01 -7.39532618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:-63.80, Z:-73.98 [[ 2.92970435e-01 -3.21446139e-01 9.00466937e-01 1.68426453e+02] [ 1.18468798e-01 9.46738108e-01 2.99419604e-01 -6.37975326e+01] [-9.48753640e-01 1.89561436e-02 3.15447612e-01 -7.39831805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:-63.78, Z:-74.02 [[ 2.94090535e-01 -2.81580156e-01 9.13358294e-01 1.68417848e+02] [ 1.17879690e-01 9.59007969e-01 2.57697679e-01 -6.37758097e+01] [-9.48480435e-01 3.18799447e-02 3.15227749e-01 -7.40172540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:-63.77, Z:-74.05 [[ 2.92897638e-01 -2.81622188e-01 9.13728579e-01 1.68423596e+02] [ 1.19508196e-01 9.58928050e-01 2.57244604e-01 -6.37711065e+01] [-9.48645753e-01 3.38517174e-02 3.14523921e-01 -7.40491718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:-63.77, Z:-74.08 [[ 2.97822635e-01 -2.80306549e-01 9.12540365e-01 1.68439953e+02] [ 1.18526225e-01 9.59379870e-01 2.56011325e-01 -6.37684651e+01] [-9.47234508e-01 3.19139969e-02 3.18948718e-01 -7.40777242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:-63.76, Z:-74.11 [[ 2.95591070e-01 -2.79457383e-01 9.13525856e-01 1.68446460e+02] [ 1.17763294e-01 9.59622369e-01 2.55453938e-01 -6.37645103e+01] [-9.48028336e-01 3.20699110e-02 3.16565625e-01 -7.41103813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:-63.76, Z:-74.14 [[ 2.94839467e-01 -2.78077725e-01 9.14189514e-01 1.68456709e+02] [ 1.15557132e-01 9.60073401e-01 2.54765802e-01 -6.37619665e+01] [-9.48533731e-01 3.05261055e-02 3.15201394e-01 -7.41400689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-63.76, Z:-74.17 [[ 2.95560550e-01 -2.76873897e-01 9.14322048e-01 1.68465826e+02] [ 1.14014633e-01 9.60463208e-01 2.53990335e-01 -6.37584860e+01] [-9.48495980e-01 2.91765694e-02 3.15442710e-01 -7.41702849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-63.75, Z:-74.20 [[ 2.97316120e-01 -2.75397826e-01 9.14198645e-01 1.68474048e+02] [ 1.11685074e-01 9.60955774e-01 2.53160907e-01 -6.37533713e+01] [-9.48224430e-01 2.68335251e-02 3.16465469e-01 -7.42020105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:-63.75, Z:-74.23 [[ 2.97251105e-01 -2.73771064e-01 9.14708251e-01 1.68484528e+02] [ 1.08810845e-01 9.61482767e-01 2.52410554e-01 -6.37503713e+01] [-9.48578927e-01 2.45008617e-02 3.15591076e-01 -7.42317502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-63.77, Z:-74.26 [[ 3.04357493e-01 -3.13344963e-01 8.99545135e-01 1.68524887e+02] [ 1.07011046e-01 9.49616410e-01 2.94579888e-01 -6.37671683e+01] [-9.46527946e-01 6.60366961e-03 3.22554242e-01 -7.42557509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:-63.71, Z:-74.30 [[ 3.02514626e-01 -2.13705368e-01 9.28878311e-01 1.68476962e+02] [ 1.05490432e-01 9.76060432e-01 1.90204629e-01 -6.37137231e+01] [-9.47289116e-01 4.04480921e-02 3.17816428e-01 -7.42976147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:-63.76, Z:-74.32 [[ 3.06783943e-01 -3.13672678e-01 8.98606178e-01 1.68547124e+02] [ 1.02747016e-01 9.49530132e-01 2.96370680e-01 -6.37625956e+01] [-9.46217027e-01 1.40733775e-03 3.23529530e-01 -7.43161215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-63.71, Z:-74.36 [[ 2.99602681e-01 -2.06999609e-01 9.31337423e-01 1.68491991e+02] [ 1.02459019e-01 9.77514509e-01 1.84302832e-01 -6.37057208e+01] [-9.48546458e-01 4.02062959e-02 3.14074944e-01 -7.43589567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:-63.74, Z:-74.38 [[ 3.03177287e-01 -2.69839629e-01 9.13931128e-01 1.68533519e+02] [ 1.00923322e-01 9.62768889e-01 2.50779883e-01 -6.37355619e+01] [-9.47574807e-01 1.62062010e-02 3.19122772e-01 -7.43827982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:-63.73, Z:-74.41 [[ 3.00392585e-01 -2.68987613e-01 9.15101065e-01 1.68543916e+02] [ 9.99582575e-02 9.63005753e-01 2.50256402e-01 -6.37326165e+01] [-9.48563462e-01 1.62967403e-02 3.16167321e-01 -7.44143665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:-63.73, Z:-74.44 [[ 3.00330326e-01 -2.67889283e-01 9.15443623e-01 1.68553868e+02] [ 9.88853469e-02 9.63323337e-01 2.49459086e-01 -6.37291525e+01] [-9.48695622e-01 1.56038315e-02 3.15805537e-01 -7.44448696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:-63.73, Z:-74.48 [[ 3.01470602e-01 -2.66885175e-01 9.15362103e-01 1.68562183e+02] [ 9.82095675e-02 9.63612383e-01 2.48608240e-01 -6.37258567e+01] [-9.48404111e-01 1.49492405e-02 3.16711483e-01 -7.44753028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:-63.72, Z:-74.51 [[ 2.99231536e-01 -2.66581753e-01 9.16184838e-01 1.68571348e+02] [ 9.91665957e-02 9.63668611e-01 2.48009665e-01 -6.37232545e+01] [-9.49013421e-01 1.66426184e-02 3.14796044e-01 -7.45065435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:-63.72, Z:-74.54 [[ 3.01118658e-01 -2.65974545e-01 9.15742920e-01 1.68582985e+02] [ 1.00099348e-01 9.63825135e-01 2.47024755e-01 -6.37206177e+01] [-9.48318340e-01 1.72815071e-02 3.16849610e-01 -7.45372386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-63.72, Z:-74.57 [[ 3.03630221e-01 -2.64877135e-01 9.15231551e-01 1.68593763e+02] [ 9.95104116e-02 9.64143106e-01 2.46019814e-01 -6.37179483e+01] [-9.47579214e-01 1.63760181e-02 3.19101017e-01 -7.45666722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:-63.71, Z:-74.60 [[ 3.03827208e-01 -2.64624061e-01 9.15239386e-01 1.68602168e+02] [ 1.01092502e-01 9.64183264e-01 2.45216106e-01 -6.37147444e+01] [-9.47348581e-01 1.80205150e-02 3.19696618e-01 -7.45985158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:-63.71, Z:-74.63 [[ 3.02229266e-01 -2.64167284e-01 9.15900168e-01 1.68611743e+02] [ 1.01776000e-01 9.64283551e-01 2.44538093e-01 -6.37118783e+01] [-9.47786430e-01 1.93100874e-02 3.18320599e-01 -7.46287687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.62, Y:-63.71, Z:-74.66 [[ 2.99384321e-01 -2.63668845e-01 9.16977518e-01 1.68619253e+02] [ 1.01915788e-01 9.64397609e-01 2.44029554e-01 -6.37083900e+01] [-9.48673917e-01 2.03958634e-02 3.15597542e-01 -7.46600295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:-63.71, Z:-74.69 [[ 3.02765439e-01 -2.63452525e-01 9.15928958e-01 1.68630930e+02] [ 1.04179542e-01 9.64424655e-01 2.42964417e-01 -6.37055531e+01] [-9.47354058e-01 2.18598314e-02 3.19440817e-01 -7.46894344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-63.71, Z:-74.72 [[ 3.03417279e-01 -2.84813236e-01 9.09296088e-01 1.68654973e+02] [ 1.05138837e-01 9.58463187e-01 2.65130429e-01 -6.37131415e+01] [-9.47039482e-01 1.51571800e-02 3.20759225e-01 -7.47189422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:-63.68, Z:-74.75 [[ 3.03308375e-01 -2.26260827e-01 9.25640356e-01 1.68631048e+02] [ 1.08200856e-01 9.73295725e-01 2.02454948e-01 -6.36798184e+01] [-9.46729425e-01 3.87487976e-02 3.19690360e-01 -7.47539457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:-63.71, Z:-74.78 [[ 3.03534886e-01 -2.84064981e-01 9.09490879e-01 1.68673336e+02] [ 1.08347108e-01 9.58623925e-01 2.63250974e-01 -6.37065274e+01] [-9.46640099e-01 1.86348523e-02 3.21753423e-01 -7.47795348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-63.67, Z:-74.81 [[ 3.02294115e-01 -2.27639973e-01 9.25634005e-01 1.68651355e+02] [ 1.10102899e-01 9.72904586e-01 2.03307694e-01 -6.36737353e+01] [-9.46834526e-01 4.04562681e-02 3.19167152e-01 -7.48147514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:-63.69, Z:-74.84 [[ 3.01187227e-01 -2.65161454e-01 9.15956144e-01 1.68679168e+02] [ 1.09898821e-01 9.63811476e-01 2.42877929e-01 -6.36903650e+01] [-9.47210907e-01 2.75107702e-02 3.19428637e-01 -7.48425038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:-63.69, Z:-74.87 [[ 3.02560157e-01 -2.64754018e-01 9.15621462e-01 1.68690177e+02] [ 1.09888720e-01 9.63930243e-01 2.42410718e-01 -6.36862056e+01] [-9.46774430e-01 2.72726454e-02 3.20740366e-01 -7.48719729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:-63.68, Z:-74.90 [[ 2.98929527e-01 -2.64336817e-01 9.16933577e-01 1.68696439e+02] [ 1.10283634e-01 9.64000428e-01 2.41951844e-01 -6.36810216e+01] [-9.47881141e-01 2.87962169e-02 3.17320217e-01 -7.49033682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:-63.68, Z:-74.93 [[ 3.02074722e-01 -2.63384398e-01 9.16176578e-01 1.68708634e+02] [ 1.09870453e-01 9.64288480e-01 2.40990066e-01 -6.36785396e+01] [-9.46931542e-01 2.78637283e-02 3.20225337e-01 -7.49343094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-63.67, Z:-74.96 [[ 2.99740991e-01 -2.62370163e-01 9.17233469e-01 1.68715799e+02] [ 1.08460192e-01 9.64578081e-01 2.40469357e-01 -6.36726146e+01] [-9.47835284e-01 2.74047943e-02 3.17580309e-01 -7.49646667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-63.68, Z:-74.99 [[ 3.04479046e-01 -2.87515250e-01 9.08090024e-01 1.68745178e+02] [ 1.06422850e-01 9.57655667e-01 2.67525327e-01 -6.36835053e+01] [-9.46555169e-01 1.51856717e-02 3.22184276e-01 -7.49932798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.73, Y:-63.66, Z:-75.03 [[ 3.06293947e-01 -2.41206463e-01 9.20871034e-01 1.68733726e+02] [ 1.05059537e-01 9.70021512e-01 2.19136394e-01 -6.36573364e+01] [-9.46121827e-01 2.96261338e-02 3.22452757e-01 -7.50290431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:-63.65, Z:-75.06 [[ 3.07001509e-01 -2.32917751e-01 9.22767249e-01 1.68739924e+02] [ 1.02349217e-01 9.72046671e-01 2.11305246e-01 -6.36490435e+01] [-9.46189575e-01 2.95734760e-02 3.22258744e-01 -7.50604612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:-63.63, Z:-75.09 [[ 3.06072307e-01 -2.01327615e-01 9.30476724e-01 1.68729448e+02] [ 1.01840463e-01 9.78698738e-01 1.78261888e-01 -6.36288062e+01] [-9.46545436e-01 4.01991528e-02 3.20055878e-01 -7.50910269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-63.65, Z:-75.12 [[ 3.05297636e-01 -2.58308710e-01 9.16553307e-01 1.68766263e+02] [ 1.00625980e-01 9.65868462e-01 2.38689185e-01 -6.36547636e+01] [-9.46925428e-01 1.93578304e-02 3.20869925e-01 -7.51163088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-63.65, Z:-75.15 [[ 3.01657894e-01 -2.57476752e-01 9.17991415e-01 1.68771994e+02] [ 9.97370685e-02 9.66083545e-01 2.38191311e-01 -6.36495121e+01] [-9.48185125e-01 1.97054831e-02 3.17106705e-01 -7.51479182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:-63.65, Z:-75.18 [[ 3.02110091e-01 -2.56474120e-01 9.18123368e-01 1.68780670e+02] [ 9.88748553e-02 9.66363272e-01 2.37414803e-01 -6.36457102e+01] [-9.48131455e-01 1.90539075e-02 3.17306937e-01 -7.51797693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:-63.64, Z:-75.21 [[ 3.01542160e-01 -2.55684179e-01 9.18530308e-01 1.68790500e+02] [ 9.87699765e-02 9.66566314e-01 2.36630626e-01 -6.36414535e+01] [-9.48323161e-01 1.93691068e-02 3.16714414e-01 -7.52094046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-63.64, Z:-75.24 [[ 3.03480072e-01 -2.55333620e-01 9.17989427e-01 1.68801276e+02] [ 9.95961180e-02 9.66649750e-01 2.35942524e-01 -6.36380519e+01] [-9.47618309e-01 1.98243293e-02 3.18789173e-01 -7.52408657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:-63.63, Z:-75.27 [[ 3.02171422e-01 -2.54932692e-01 9.18532391e-01 1.68809222e+02] [ 1.00619071e-01 9.66723093e-01 2.35206852e-01 -6.36343122e+01] [-9.47928391e-01 2.13490865e-02 3.17767183e-01 -7.52731571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:-63.63, Z:-75.30 [[ 3.01703628e-01 -2.54277323e-01 9.18867762e-01 1.68819214e+02] [ 1.00943264e-01 9.66880448e-01 2.34419829e-01 -6.36304684e+01] [-9.48042920e-01 2.20281977e-02 3.17378922e-01 -7.53037412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-63.63, Z:-75.33 [[ 3.01967806e-01 -2.54266775e-01 9.18783898e-01 1.68828357e+02] [ 1.03370994e-01 9.66825276e-01 2.33587934e-01 -6.36261067e+01] [-9.47697147e-01 2.44395690e-02 3.18233917e-01 -7.53336265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:-63.62, Z:-75.36 [[ 3.01643188e-01 -2.54145780e-01 9.18923996e-01 1.68837536e+02] [ 1.04458200e-01 9.66825078e-01 2.33104598e-01 -6.36225905e+01] [-9.47681313e-01 2.56747330e-02 3.18183809e-01 -7.53638942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:-63.62, Z:-75.40 [[ 3.01543447e-01 -2.53676694e-01 9.19086331e-01 1.68847083e+02] [ 1.05170788e-01 9.66923528e-01 2.32374691e-01 -6.36191023e+01] [-9.47634241e-01 2.65899686e-02 3.18248831e-01 -7.53955345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:-63.62, Z:-75.43 [[ 3.01475612e-01 -2.53314378e-01 9.19208508e-01 1.68856188e+02] [ 1.06458540e-01 9.66977348e-01 2.31562926e-01 -6.36154260e+01] [-9.47512023e-01 2.80470213e-02 3.18487567e-01 -7.54257738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:-63.62, Z:-75.46 [[ 3.04949789e-01 -2.75542258e-01 9.11637039e-01 1.68881369e+02] [ 1.08218708e-01 9.61057061e-01 2.54279445e-01 -6.36247640e+01] [-9.46199946e-01 2.11137194e-02 3.22892976e-01 -7.54560325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:-63.60, Z:-75.49 [[ 3.07297732e-01 -2.29037362e-01 9.23639535e-01 1.68871081e+02] [ 1.08417280e-01 9.72710338e-01 2.05134815e-01 -6.35988636e+01] [-9.45417261e-01 3.71010228e-02 3.23743288e-01 -7.54930552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:-63.58, Z:-75.52 [[ 3.07651291e-01 -1.95897362e-01 9.31114873e-01 1.68860645e+02] [ 1.10118154e-01 9.79331596e-01 1.69657352e-01 -6.35779079e+01] [-9.45105642e-01 5.03373478e-02 3.22864486e-01 -7.55228063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-63.60, Z:-75.55 [[ 3.01566477e-01 -2.54029727e-01 9.18981261e-01 1.68893206e+02] [ 1.13033038e-01 9.66581400e-01 2.30095480e-01 -6.36027605e+01] [-9.46721285e-01 3.44861603e-02 3.20202299e-01 -7.55480458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-63.61, Z:-75.58 [[ 3.05619465e-01 -2.78240992e-01 9.10592496e-01 1.68921169e+02] [ 1.12526071e-01 9.60202878e-01 2.55633167e-01 -6.36144873e+01] [-9.45481161e-01 2.43389240e-02 3.24766055e-01 -7.55785356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-63.57, Z:-75.61 [[ 3.03693154e-01 -1.99985287e-01 9.31545143e-01 1.68889182e+02] [ 1.14010353e-01 9.78325700e-01 1.72859666e-01 -6.35686500e+01] [-9.45923944e-01 5.37094935e-02 3.19911210e-01 -7.56143697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-63.60, Z:-75.64 [[ 3.00627291e-01 -2.56039062e-01 9.18731316e-01 1.68920936e+02] [ 1.13811124e-01 9.66039049e-01 2.31981863e-01 -6.35962936e+01] [-9.46926745e-01 3.48217644e-02 3.19557796e-01 -7.56417227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-63.58, Z:-75.67 [[ 3.02160565e-01 -2.35813331e-01 9.23629290e-01 1.68923501e+02] [ 1.14040483e-01 9.70903126e-01 2.10575136e-01 -6.35815742e+01] [-9.46410990e-01 4.17036277e-02 3.20260904e-01 -7.56708314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-63.59, Z:-75.70 [[ 3.01290082e-01 -2.51774940e-01 9.19692158e-01 1.68940278e+02] [ 1.13048840e-01 9.67139715e-01 2.27729515e-01 -6.35873602e+01] [-9.46807396e-01 3.53574873e-02 3.19852469e-01 -7.57002490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:-63.58, Z:-75.73 [[ 3.01330471e-01 -2.50677445e-01 9.19978677e-01 1.68949942e+02] [ 1.11971052e-01 9.67451156e-01 2.26937753e-01 -6.35844986e+01] [-9.46922611e-01 3.46277201e-02 3.19591130e-01 -7.57304397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-63.60, Z:-75.76 [[ 3.07506797e-01 -2.93015787e-01 9.05307306e-01 1.68990375e+02] [ 1.09848892e-01 9.55977484e-01 2.72103420e-01 -6.36048778e+01] [-9.45183998e-01 1.57733538e-02 3.26157034e-01 -7.57561858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-63.55, Z:-75.80 [[ 2.99997398e-01 -1.85102331e-01 9.35809109e-01 1.68939388e+02] [ 1.06893064e-01 9.81338285e-01 1.59840678e-01 -6.35456667e+01] [-9.47932189e-01 5.20797157e-02 3.14185087e-01 -7.57975951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:-63.58, Z:-75.82 [[ 2.98610513e-01 -2.49213796e-01 9.21262311e-01 1.68978656e+02] [ 1.04743857e-01 9.68030843e-01 2.27914484e-01 -6.35758877e+01] [-9.48609765e-01 2.84389064e-02 3.15167801e-01 -7.58209710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-63.57, Z:-75.85 [[ 2.98559463e-01 -2.47773054e-01 9.21667381e-01 1.68987913e+02] [ 1.02490430e-01 9.68451648e-01 2.27149988e-01 -6.35725518e+01] [-9.48871940e-01 2.66443074e-02 3.14534771e-01 -7.58519901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:-63.57, Z:-75.88 [[ 2.98887612e-01 -2.46312128e-01 9.21952564e-01 1.68997716e+02] [ 1.00173028e-01 9.68875901e-01 2.26373260e-01 -6.35692240e+01] [-9.49016101e-01 2.46946170e-02 3.14258836e-01 -7.58836759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:-63.57, Z:-75.91 [[ 2.99155369e-01 -2.44169130e-01 9.22435635e-01 1.69007499e+02] [ 9.55271186e-02 9.69513556e-01 2.25650250e-01 -6.35655729e+01] [-9.49410678e-01 2.06131347e-02 3.13359959e-01 -7.59144497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:-63.56, Z:-75.94 [[ 2.99368237e-01 -2.42573500e-01 9.22787492e-01 1.69016432e+02] [ 9.28608202e-02 9.69958931e-01 2.24847817e-01 -6.35628887e+01] [-9.49608091e-01 1.83785089e-02 3.12900470e-01 -7.59445614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:-63.56, Z:-75.97 [[ 2.99977668e-01 -2.41170934e-01 9.22957193e-01 1.69025497e+02] [ 9.07376616e-02 9.70341806e-01 2.24061277e-01 -6.35598770e+01] [-9.49621017e-01 1.65335981e-02 3.12964158e-01 -7.59746101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:-63.56, Z:-76.01 [[ 3.00404326e-01 -2.39370965e-01 9.23286945e-01 1.69034519e+02] [ 8.71342081e-02 9.70836332e-01 2.23348264e-01 -6.35563758e+01] [-9.49823600e-01 1.33550920e-02 3.12500833e-01 -7.60053972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:-63.55, Z:-76.04 [[ 3.01010758e-01 -2.38223125e-01 9.23386304e-01 1.69043638e+02] [ 8.57079551e-02 9.71134626e-01 2.22602077e-01 -6.35533903e+01] [-9.49761375e-01 1.21359322e-02 3.12739587e-01 -7.60367333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23361786499996 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:169.05, Y:-63.55, Z:-76.07 [[ 3.01261831e-01 -2.35602222e-01 9.23976679e-01 1.69051016e+02] [ 8.53073528e-02 9.71768509e-01 2.19974135e-01 -6.35493590e+01] [-9.49717834e-01 1.25521939e-02 3.12855362e-01 -7.60651093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26361786499996 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:169.06, Y:-63.54, Z:-76.09 [[ 3.00803407e-01 -2.29278983e-01 9.25715106e-01 1.69057020e+02] [ 8.56344139e-02 9.73243082e-01 2.13224414e-01 -6.35433891e+01] [-9.49833700e-01 1.51344404e-02 3.12389007e-01 -7.60936888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29361786499996 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:169.06, Y:-63.53, Z:-76.12 [[ 3.05602382e-01 -2.07535686e-01 9.29266444e-01 1.69057771e+02] [ 8.67544814e-02 9.77966585e-01 1.89881590e-01 -6.35296699e+01] [-9.48198737e-01 2.25897622e-02 3.16873569e-01 -7.61203022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:-63.55, Z:-76.14 [[ 3.00778488e-01 -2.45322145e-01 9.21601512e-01 1.69082100e+02] [ 8.76474196e-02 9.69370192e-01 2.29432693e-01 -6.35468035e+01] [-9.49657955e-01 1.17675758e-02 3.13067554e-01 -7.61449529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:-63.54, Z:-76.18 [[ 2.99695035e-01 -2.40042887e-01 9.23343001e-01 1.69089760e+02] [ 8.79801994e-02 9.70658891e-01 2.23787404e-01 -6.35416606e+01] [-9.49969668e-01 1.41679273e-02 3.12020672e-01 -7.61759817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:-63.54, Z:-76.21 [[ 2.99487899e-01 -2.39494115e-01 9.23552688e-01 1.69098976e+02] [ 8.92893909e-02 9.70770182e-01 2.22783883e-01 -6.35389594e+01] [-9.49912840e-01 1.57423798e-02 3.12118206e-01 -7.62069614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:-63.53, Z:-76.24 [[ 3.01659724e-01 -2.33879335e-01 9.24284517e-01 1.69105285e+02] [ 9.31988998e-02 9.72036191e-01 2.15544911e-01 -6.35333690e+01] [-9.48849501e-01 2.11210817e-02 3.15021466e-01 -7.62395822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:-63.54, Z:-76.27 [[ 2.97311303e-01 -2.56875030e-01 9.19576646e-01 1.69125328e+02] [ 9.38782708e-02 9.66326692e-01 2.39582125e-01 -6.35426300e+01] [-9.50154124e-01 1.50977917e-02 3.11414832e-01 -7.62670983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:-63.53, Z:-76.30 [[ 2.97826777e-01 -2.36827340e-01 9.24776742e-01 1.69125789e+02] [ 9.81311994e-02 9.71201451e-01 2.17112897e-01 -6.35293868e+01] [-9.49562783e-01 2.60874166e-02 3.12489949e-01 -7.63022403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:-63.52, Z:-76.33 [[ 2.95552015e-01 -2.31538746e-01 9.26843469e-01 1.69129109e+02] [ 9.94052794e-02 9.72371956e-01 2.11214039e-01 -6.35240469e+01] [-9.50140830e-01 2.97083989e-02 3.10402665e-01 -7.63329560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:-63.53, Z:-76.36 [[ 2.97317018e-01 -2.46048602e-01 9.22530583e-01 1.69148930e+02] [ 1.01478472e-01 9.68894897e-01 2.25709545e-01 -6.35288141e+01] [-9.49370692e-01 2.65097056e-02 3.13037578e-01 -7.63606975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:-63.52, Z:-76.39 [[ 2.99784371e-01 -2.37480390e-01 9.23976404e-01 1.69155010e+02] [ 1.03661790e-01 9.70895778e-01 2.15906513e-01 -6.35217188e+01] [-9.48358352e-01 3.10556493e-02 3.15677022e-01 -7.63941578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:-63.52, Z:-76.42 [[ 2.98292702e-01 -2.45015489e-01 9.22490582e-01 1.69167731e+02] [ 1.03692008e-01 9.69088982e-01 2.23862710e-01 -6.35225715e+01] [-9.48825290e-01 2.88782886e-02 3.14478319e-01 -7.64225616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:-63.52, Z:-76.45 [[ 2.98467214e-01 -2.44735672e-01 9.22508414e-01 1.69177847e+02] [ 1.03412241e-01 9.69166617e-01 2.23655933e-01 -6.35196375e+01] [-9.48800944e-01 2.86446993e-02 3.14573124e-01 -7.64527410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:-63.52, Z:-76.48 [[ 2.98989220e-01 -2.43786630e-01 9.22590660e-01 1.69187885e+02] [ 1.02682864e-01 9.69421886e-01 2.22884356e-01 -6.35166452e+01] [-9.48715804e-01 2.80942318e-02 3.14879403e-01 -7.64837736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:-63.51, Z:-76.51 [[ 2.99772365e-01 -2.42234352e-01 9.22745386e-01 1.69197989e+02] [ 1.00089314e-01 9.69875195e-01 2.22090603e-01 -6.35133679e+01] [-9.48745835e-01 2.57803277e-02 3.14986851e-01 -7.65141207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71361786499995 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:169.20, Y:-63.51, Z:-76.54 [[ 3.00442810e-01 -2.36794335e-01 9.23938613e-01 1.69204589e+02] [ 9.89539634e-02 9.71203431e-01 2.16730269e-01 -6.35081407e+01] [-9.48652851e-01 2.63123367e-02 3.15222826e-01 -7.65426945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:-63.51, Z:-76.57 [[ 3.00035059e-01 -2.40816401e-01 9.23031107e-01 1.69215154e+02] [ 9.70805924e-02 9.70295199e-01 2.21591033e-01 -6.35074451e+01] [-9.48975406e-01 2.31233280e-02 3.14501176e-01 -7.65670286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-63.51, Z:-76.60 [[ 3.00707410e-01 -2.41140539e-01 9.22727638e-01 1.69226098e+02] [ 9.48900577e-02 9.70271387e-01 2.22641669e-01 -6.35050123e+01] [-9.48984157e-01 2.06076790e-02 3.14649636e-01 -7.65984718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-63.50, Z:-76.63 [[ 2.99970078e-01 -2.39449933e-01 9.23407647e-01 1.69232231e+02] [ 9.16973985e-02 9.70739986e-01 2.21935728e-01 -6.35011148e+01] [-9.49531221e-01 1.81000012e-02 3.13149885e-01 -7.66308049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:-63.50, Z:-76.66 [[ 3.00871484e-01 -2.38011251e-01 9.23486326e-01 1.69242958e+02] [ 8.96678086e-02 9.71125753e-01 2.21075681e-01 -6.34981061e+01] [-9.49439853e-01 1.62916269e-02 3.13525994e-01 -7.66615164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-63.50, Z:-76.69 [[ 3.01023075e-01 -2.36218545e-01 9.23897130e-01 1.69252406e+02] [ 8.64039126e-02 9.71605841e-01 2.20264507e-01 -6.34956567e+01] [-9.49694410e-01 1.35236277e-02 3.12885984e-01 -7.66921134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:-63.49, Z:-76.72 [[ 3.00221242e-01 -2.34097856e-01 9.24697464e-01 1.69260946e+02] [ 8.51280726e-02 9.72124379e-01 2.18466023e-01 -6.34922001e+01] [-9.50063375e-01 1.31295721e-02 3.11780687e-01 -7.67228302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-63.49, Z:-76.75 [[ 3.00228307e-01 -2.38676479e-01 9.23523959e-01 1.69273083e+02] [ 8.49037841e-02 9.71032766e-01 2.23353342e-01 -6.34922843e+01] [-9.50081213e-01 1.13536831e-02 3.11796060e-01 -7.67541762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:-63.49, Z:-76.79 [[ 3.02710581e-01 -2.36674835e-01 9.23228751e-01 1.69284191e+02] [ 8.50804309e-02 9.71519645e-01 2.21158088e-01 -6.34888778e+01] [-9.49277422e-01 1.16018068e-02 3.14225673e-01 -7.67852701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:-63.48, Z:-76.82 [[ 3.03489509e-01 -2.21851755e-01 9.26647677e-01 1.69291022e+02] [ 8.25146024e-02 9.74982436e-01 2.06399102e-01 -6.34803685e+01] [-9.49255213e-01 1.38220027e-02 3.14202950e-01 -7.68153228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-63.48, Z:-76.85 [[ 3.02778974e-01 -2.28174032e-01 9.25343992e-01 1.69303949e+02] [ 8.13478306e-02 9.73562139e-01 2.13446229e-01 -6.34814233e+01] [-9.49582763e-01 1.06476960e-02 3.13335608e-01 -7.68453901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.31, Y:-63.48, Z:-76.88 [[ 3.00569569e-01 -2.31080836e-01 9.25342954e-01 1.69312467e+02] [ 8.17830801e-02 9.72876392e-01 2.16386351e-01 -6.34802939e+01] [-9.50247053e-01 1.06382448e-02 3.11315540e-01 -7.68771545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07361786499996 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:169.31, Y:-63.47, Z:-76.91 [[ 2.99048963e-01 -2.15141281e-01 9.29668730e-01 1.69312486e+02] [ 8.09198403e-02 9.76460924e-01 1.99940101e-01 -6.34726637e+01] [-9.50800556e-01 1.54367654e-02 3.09418824e-01 -7.69064012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10361786499996 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:169.33, Y:-63.48, Z:-76.93 [[ 3.04055252e-01 -2.33590186e-01 9.23572427e-01 1.69334045e+02] [ 8.34293223e-02 9.72276983e-01 2.18442249e-01 -6.34792649e+01] [-9.48994179e-01 1.06345086e-02 3.15114194e-01 -7.69295400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:-63.48, Z:-76.96 [[ 3.02197408e-01 -2.33925510e-01 9.24097172e-01 1.69342528e+02] [ 8.38913787e-02 9.72187171e-01 2.18664907e-01 -6.34778605e+01] [-9.49546715e-01 1.14438175e-02 3.13416777e-01 -7.69557857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-63.49, Z:-76.99 [[ 3.11024157e-01 -2.58864578e-01 9.14468755e-01 1.69373426e+02] [ 8.65714282e-02 9.65908047e-01 2.43981625e-01 -6.34909466e+01] [-9.46450929e-01 3.28268694e-03 3.22831012e-01 -7.69855546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:-63.45, Z:-77.02 [[ 3.12537829e-01 -1.78734101e-01 9.32938490e-01 1.69345567e+02] [ 8.76195649e-02 9.83375713e-01 1.59044082e-01 -6.34493966e+01] [-9.45855654e-01 3.20363726e-02 3.23002714e-01 -7.70206429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22361786499997 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:169.36, Y:-63.47, Z:-77.05 [[ 3.02355249e-01 -2.16763736e-01 9.28221302e-01 1.69358669e+02] [ 8.88234089e-02 9.75969709e-01 1.98981230e-01 -6.34662423e+01] [-9.49047789e-01 2.22847608e-02 3.14343259e-01 -7.70461244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-63.50, Z:-77.07 [[ 2.99688823e-01 -2.78144111e-01 9.12591071e-01 1.69391800e+02] [ 9.37353606e-02 9.60513607e-01 2.61968116e-01 -6.34966474e+01] [-9.49421030e-01 7.03313709e-03 3.13927130e-01 -7.70687709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-63.47, Z:-77.10 [[ 3.11115110e-01 -2.21509208e-01 9.24197522e-01 1.69389560e+02] [ 9.10705109e-02 9.74931984e-01 2.03011797e-01 -6.34695839e+01] [-9.45998705e-01 2.10071031e-02 3.23489028e-01 -7.71015661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-63.45, Z:-77.14 [[ 3.05271638e-01 -1.76505711e-01 9.35764372e-01 1.69368488e+02] [ 9.47753817e-02 9.83424391e-01 1.54577146e-01 -6.34450993e+01] [-9.47537257e-01 4.14994071e-02 3.16939971e-01 -7.71362671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:-63.49, Z:-77.16 [[ 3.05596006e-01 -2.68512394e-01 9.13516379e-01 1.69427477e+02] [ 9.35296165e-02 9.63238905e-01 2.51839280e-01 -6.34925710e+01] [-9.47556485e-01 8.47975860e-03 3.19475823e-01 -7.71559677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:-63.46, Z:-77.20 [[ 2.99655621e-01 -2.13451676e-01 9.29862834e-01 1.69401821e+02] [ 9.74158581e-02 9.76401943e-01 1.92741785e-01 -6.34618602e+01] [-9.49060936e-01 3.28272268e-02 3.13377909e-01 -7.71961806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:-63.46, Z:-77.22 [[ 3.01014052e-01 -2.05862908e-01 9.31134256e-01 1.69409291e+02] [ 9.70181013e-02 9.77965656e-01 1.84853088e-01 -6.34578504e+01] [-9.48671718e-01 3.46935006e-02 3.14353834e-01 -7.72240447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43361786499995 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:169.43, Y:-63.47, Z:-77.25 [[ 2.98065832e-01 -2.32136796e-01 9.25888367e-01 1.69426775e+02] [ 1.00132907e-01 9.72230684e-01 2.11520443e-01 -6.34675233e+01] [-9.49278758e-01 2.96648766e-02 3.13033280e-01 -7.72488600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-63.48, Z:-77.28 [[ 2.96433049e-01 -2.52557465e-01 9.21054925e-01 1.69442735e+02] [ 1.00430158e-01 9.67297497e-01 2.32914867e-01 -6.34770445e+01] [-9.49758512e-01 2.34580276e-02 3.12103333e-01 -7.72761103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49361786499995 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:169.43, Y:-63.45, Z:-77.31 [[ 2.99599519e-01 -1.94182531e-01 9.34094895e-01 1.69427442e+02] [ 1.00798509e-01 9.80031128e-01 1.71402008e-01 -6.34450455e+01] [-9.48725350e-01 4.28034139e-02 3.13190164e-01 -7.73070738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499995 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:169.45, Y:-63.47, Z:-77.33 [[ 2.92662709e-01 -2.43697145e-01 9.24640601e-01 1.69454368e+02] [ 9.91450646e-02 9.69500763e-01 2.24139525e-01 -6.34717741e+01] [-9.51061930e-01 2.60762717e-02 3.07898088e-01 -7.73291838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55361786499995 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:169.47, Y:-63.47, Z:-77.35 [[ 2.96402299e-01 -2.47116841e-01 9.22539400e-01 1.69466664e+02] [ 9.77730062e-02 9.68722153e-01 2.28074177e-01 -6.34733604e+01] [-9.50045323e-01 2.25977403e-02 3.11292829e-01 -7.73494267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:169.48, Y:-63.48, Z:-77.38 [[ 2.93378259e-01 -2.68081445e-01 9.17639110e-01 1.69484805e+02] [ 9.73308434e-02 9.63265299e-01 2.50293168e-01 -6.34820866e+01] [-9.51028866e-01 1.58840147e-02 3.08693690e-01 -7.73792639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:-63.48, Z:-77.41 [[ 2.98503850e-01 -2.57694181e-01 9.18960914e-01 1.69494441e+02] [ 9.55230956e-02 9.66091111e-01 2.39881852e-01 -6.34774441e+01] [-9.49616128e-01 1.61763349e-02 3.12997662e-01 -7.74052306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-63.47, Z:-77.44 [[ 2.98141704e-01 -2.40638673e-01 9.23690724e-01 1.69497185e+02] [ 9.34487691e-02 9.70409981e-01 2.22647245e-01 -6.34676440e+01] [-9.49936236e-01 1.99373322e-02 3.11807073e-01 -7.74380273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.51, Y:-63.47, Z:-77.47 [[ 2.99830903e-01 -2.38805791e-01 9.23619632e-01 1.69508584e+02] [ 9.01460399e-02 9.70922593e-01 2.21772429e-01 -6.34670520e+01] [-9.49723708e-01 1.67664246e-02 3.12639994e-01 -7.74689068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-63.46, Z:-77.50 [[ 2.98779664e-01 -2.37734611e-01 9.24236424e-01 1.69515874e+02] [ 8.91203814e-02 9.71192747e-01 2.21002729e-01 -6.34643967e+01] [-9.50151709e-01 1.63371816e-02 3.11359641e-01 -7.75003591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-63.46, Z:-77.53 [[ 2.99409881e-01 -2.36413335e-01 9.24371385e-01 1.69526227e+02] [ 8.73575506e-02 9.71539455e-01 2.20181165e-01 -6.34633671e+01] [-9.50117036e-01 1.48264035e-02 3.11541003e-01 -7.75315506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:-63.47, Z:-77.56 [[ 3.02812493e-01 -2.49105537e-01 9.19919032e-01 1.69546950e+02] [ 8.58996887e-02 9.68441868e-01 2.33969213e-01 -6.34691527e+01] [-9.49171132e-01 8.17195755e-03 3.14654385e-01 -7.75614136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:-63.45, Z:-77.60 [[ 3.01502303e-01 -2.18842412e-01 9.28010970e-01 1.69541123e+02] [ 8.35908227e-02 9.75622474e-01 2.02912202e-01 -6.34539013e+01] [-9.49794154e-01 1.63947042e-02 3.12445640e-01 -7.75962420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:-63.44, Z:-77.63 [[ 2.99068681e-01 -2.06310552e-01 9.31661892e-01 1.69541226e+02] [ 8.38561448e-02 9.78252754e-01 1.89709507e-01 -6.34445627e+01] [-9.50539884e-01 2.13894023e-02 3.09865169e-01 -7.76261003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:-63.47, Z:-77.65 [[ 3.02982171e-01 -2.46803904e-01 9.20483371e-01 1.69576533e+02] [ 8.04222020e-02 9.69059741e-01 2.33356995e-01 -6.34678569e+01] [-9.49596795e-01 3.32429053e-03 3.13456338e-01 -7.76533145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.57, Y:-63.45, Z:-77.69 [[ 3.05112471e-01 -2.16047264e-01 9.27485827e-01 1.69573775e+02] [ 8.01022609e-02 9.76297078e-01 2.01066268e-01 -6.34521606e+01] [-9.48941520e-01 1.29458859e-02 3.15186288e-01 -7.76876852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:-63.44, Z:-77.72 [[ 3.07282951e-01 -1.84388220e-01 9.33583511e-01 1.69567935e+02] [ 7.90782207e-02 9.82602971e-01 1.68041768e-01 -6.34371383e+01] [-9.48326855e-01 2.21897527e-02 3.16518233e-01 -7.77172159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-63.47, Z:-77.74 [[ 3.04332600e-01 -2.50311334e-01 9.19089715e-01 1.69608289e+02] [ 8.12014769e-02 9.68161988e-01 2.36788269e-01 -6.34684535e+01] [-9.49098514e-01 2.56905265e-03 3.14968905e-01 -7.77434644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.60, Y:-63.45, Z:-77.78 [[ 3.04937124e-01 -2.09547562e-01 9.29033460e-01 1.69601005e+02] [ 8.06740842e-02 9.77671125e-01 1.94038305e-01 -6.34476570e+01] [-9.48949442e-01 1.57794411e-02 3.15033279e-01 -7.77785037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-63.45, Z:-77.81 [[ 3.04165580e-01 -2.09843361e-01 9.29219599e-01 1.69609425e+02] [ 8.21870277e-02 9.77580112e-01 1.93861851e-01 -6.34466205e+01] [-9.49067222e-01 1.74036945e-02 3.14592624e-01 -7.78108681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-63.44, Z:-77.84 [[ 3.03083881e-01 -1.97511160e-01 9.32271153e-01 1.69611221e+02] [ 8.48378558e-02 9.79993823e-01 1.80040678e-01 -6.34403390e+01] [-9.49180014e-01 2.45244582e-02 3.13776755e-01 -7.78420092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.63, Y:-63.45, Z:-77.87 [[ 3.01015135e-01 -2.20503113e-01 9.27775978e-01 1.69632192e+02] [ 8.60390042e-02 9.75211581e-01 2.03861871e-01 -6.34507283e+01] [-9.49730055e-01 1.84594127e-02 3.12525314e-01 -7.78705002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:-63.44, Z:-77.90 [[ 3.01272731e-01 -2.09976425e-01 9.30131519e-01 1.69636779e+02] [ 8.72790989e-02 9.77430657e-01 1.92384172e-01 -6.34443779e+01] [-9.49535202e-01 2.32209359e-02 3.12799756e-01 -7.79004943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.65, Y:-63.46, Z:-77.93 [[ 2.99444924e-01 -2.31621361e-01 9.25572408e-01 1.69654968e+02] [ 8.94879847e-02 9.72627935e-01 2.14445333e-01 -6.34556841e+01] [-9.49907700e-01 1.86130430e-02 3.11975827e-01 -7.79297315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:-63.46, Z:-77.96 [[ 2.98842528e-01 -2.44166528e-01 9.22537723e-01 1.69668900e+02] [ 8.86329787e-02 9.69637176e-01 2.27920912e-01 -6.34627405e+01] [-9.50177530e-01 1.36548048e-02 3.11410031e-01 -7.79585670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-63.46, Z:-77.99 [[ 2.98557890e-01 -2.37987337e-01 9.24243049e-01 1.69681216e+02] [ 8.98745634e-02 9.71118118e-01 2.21025255e-01 -6.34577359e+01] [-9.50150382e-01 1.70771069e-02 3.11323984e-01 -7.79911848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:169.67, Y:-63.44, Z:-78.03 [[ 3.01179687e-01 -1.93152681e-01 9.33800213e-01 1.69666426e+02] [ 9.12779502e-02 9.80613198e-01 1.73395766e-01 -6.34357199e+01] [-9.49188671e-01 3.30120869e-02 3.12971356e-01 -7.80261963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-63.45, Z:-78.05 [[ 2.99784701e-01 -2.27722141e-01 9.26429576e-01 1.69692949e+02] [ 9.03666391e-02 9.73505083e-01 2.10051720e-01 -6.34523862e+01] [-9.49717328e-01 2.07480352e-02 3.12420415e-01 -7.80511784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.70, Y:-63.45, Z:-78.08 [[ 3.00195504e-01 -2.27565837e-01 9.26334955e-01 1.69704288e+02] [ 9.12253287e-02 9.73523419e-01 2.09595068e-01 -6.34495140e+01] [-9.49505450e-01 2.15857136e-02 3.13007121e-01 -7.80809979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.72, Y:-63.46, Z:-78.11 [[ 2.99757317e-01 -2.34964115e-01 9.24628258e-01 1.69721297e+02] [ 8.90391701e-02 9.71856226e-01 2.18099753e-01 -6.34551273e+01] [-9.49851345e-01 1.69511360e-02 3.12242025e-01 -7.81141680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:-63.44, Z:-78.15 [[ 3.00455055e-01 -2.11075964e-01 9.30147138e-01 1.69719329e+02] [ 8.74000903e-02 9.77195468e-01 1.93520648e-01 -6.34410517e+01] [-9.49783125e-01 2.31506870e-02 3.12051376e-01 -7.81477620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499995 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:169.72, Y:-63.43, Z:-78.17 [[ 3.00910929e-01 -1.99382372e-01 9.32576690e-01 1.69722657e+02] [ 8.23320126e-02 9.79680401e-01 1.82887265e-01 -6.34344272e+01] [-9.50091602e-01 2.17481390e-02 3.11212092e-01 -7.81687969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:-63.47, Z:-78.19 [[ 3.02034958e-01 -2.74889193e-01 9.12803821e-01 1.69770019e+02] [ 8.37169885e-02 9.61472209e-01 2.61844721e-01 -6.34675828e+01] [-9.49613790e-01 -2.66907227e-03 3.13411113e-01 -7.81935406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-63.44, Z:-78.23 [[ 3.02036515e-01 -2.30806381e-01 9.24933705e-01 1.69757655e+02] [ 8.23291328e-02 9.72938205e-01 2.15900816e-01 -6.34448645e+01] [-9.49734625e-01 1.09390597e-02 3.12864954e-01 -7.82327968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-63.43, Z:-78.27 [[ 3.03089812e-01 -2.08568945e-01 9.29857818e-01 1.69757013e+02] [ 8.11659005e-02 9.77859681e-01 1.92879601e-01 -6.34322419e+01] [-9.49499164e-01 1.70129051e-02 3.13307994e-01 -7.82650767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.77, Y:-63.43, Z:-78.30 [[ 3.03833113e-01 -2.11200250e-01 9.29020933e-01 1.69766895e+02] [ 8.21994336e-02 9.77294464e-01 1.95291536e-01 -6.34307713e+01] [-9.49172636e-01 1.70289591e-02 3.14294960e-01 -7.82972166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51361786499996 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:169.78, Y:-63.43, Z:-78.32 [[ 3.04859260e-01 -2.05490174e-01 9.29964849e-01 1.69775486e+02] [ 7.93940921e-02 9.78530803e-01 1.90194760e-01 -6.34267264e+01] [-9.49082404e-01 1.58510811e-02 3.14628882e-01 -7.83227180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.79, Y:-63.43, Z:-78.35 [[ 3.00039379e-01 -2.23449184e-01 9.27387100e-01 1.69787193e+02] [ 7.85920717e-02 9.74663736e-01 2.09413200e-01 -6.34316583e+01] [-9.50683784e-01 1.00530670e-02 3.09998836e-01 -7.83494244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:-63.43, Z:-78.38 [[ 2.99433240e-01 -2.24524482e-01 9.27323294e-01 1.69797818e+02] [ 7.78322954e-02 9.74426367e-01 2.10797033e-01 -6.34292325e+01] [-9.50937363e-01 9.05606199e-03 3.09250900e-01 -7.83799374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-63.42, Z:-78.41 [[ 3.03224004e-01 -2.17484815e-01 9.27769130e-01 1.69808727e+02] [ 7.62793958e-02 9.76022646e-01 2.03865762e-01 -6.34232612e+01] [-9.49861388e-01 8.95267622e-03 3.12543105e-01 -7.84088624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.82, Y:-63.43, Z:-78.44 [[ 3.03312884e-01 -2.24257519e-01 9.26126265e-01 1.69821693e+02] [ 7.54733424e-02 9.74512534e-01 2.11255995e-01 -6.34251893e+01] [-9.49897399e-01 5.82117965e-03 3.12507672e-01 -7.84382392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.83, Y:-63.42, Z:-78.47 [[ 3.03034679e-01 -2.23731771e-01 9.26344470e-01 1.69830763e+02] [ 7.53275333e-02 9.74632813e-01 2.10752562e-01 -6.34235031e+01] [-9.49997761e-01 5.91390892e-03 3.12200704e-01 -7.84688878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-63.42, Z:-78.50 [[ 3.03599503e-01 -2.23064897e-01 9.26320351e-01 1.69840878e+02] [ 7.55391078e-02 9.74783724e-01 2.09977461e-01 -6.34214131e+01] [-9.49800603e-01 6.22435993e-03 3.12793978e-01 -7.85004474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:-63.42, Z:-78.53 [[ 3.03351877e-01 -2.22491259e-01 9.26539410e-01 1.69849897e+02] [ 7.61969357e-02 9.74908461e-01 2.09159077e-01 -6.34192881e+01] [-9.49827177e-01 7.15066520e-03 3.12693464e-01 -7.85308716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75361786499997 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:169.83, Y:-63.40, Z:-78.57 [[ 3.00114565e-01 -1.81893817e-01 9.36400495e-01 1.69829897e+02] [ 7.79259551e-02 9.83045467e-01 1.65979384e-01 -6.33984382e+01] [-9.50714885e-01 2.31570721e-02 3.09200512e-01 -7.85668594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78361786499997 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:169.88, Y:-63.43, Z:-78.58 [[ 3.02734934e-01 -2.59690618e-01 9.17012728e-01 1.69884348e+02] [ 8.10108735e-02 9.65691782e-01 2.46731879e-01 -6.34326503e+01] [-9.49625610e-01 -4.06357030e-04 3.13386401e-01 -7.85838125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81361786499997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:169.87, Y:-63.41, Z:-78.62 [[ 3.03461457e-01 -2.09684188e-01 9.29485710e-01 1.69868293e+02] [ 8.48751418e-02 9.77556805e-01 1.92818317e-01 -6.34062405e+01] [-9.49056033e-01 2.03773039e-02 3.14447788e-01 -7.86164587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84361786499997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:169.88, Y:-63.41, Z:-78.64 [[ 3.03476461e-01 -2.17496838e-01 9.27683763e-01 1.69880790e+02] [ 8.53218556e-02 9.75891570e-01 2.00887590e-01 -6.34077730e+01] [-9.49011179e-01 1.81870451e-02 3.14717354e-01 -7.86428524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87361786499997 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:169.89, Y:-63.41, Z:-78.67 [[ 3.02987989e-01 -2.19245808e-01 9.27431698e-01 1.69890128e+02] [ 8.76615976e-02 9.75462422e-01 2.01961650e-01 -6.34070575e+01] [-9.48954015e-01 2.01081902e-02 3.14772835e-01 -7.86697676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:169.91, Y:-63.42, Z:-78.69 [[ 2.98533960e-01 -2.39671875e-01 9.23815386e-01 1.69907349e+02] [ 8.93719111e-02 9.70722067e-01 2.22960378e-01 -6.34156777e+01] [-9.50205313e-01 1.60019021e-02 3.11213436e-01 -7.86927548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:169.91, Y:-63.41, Z:-78.73 [[ 2.98114927e-01 -2.30360910e-01 9.26316005e-01 1.69912481e+02] [ 9.14671438e-02 9.72870418e-01 2.12501557e-01 -6.34094318e+01] [-9.50137491e-01 2.13775931e-02 3.11097648e-01 -7.87252475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499995 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:169.91, Y:-63.40, Z:-78.75 [[ 2.99839766e-01 -2.19539687e-01 9.28384856e-01 1.69914576e+02] [ 9.35047271e-02 9.75237747e-01 2.00420066e-01 -6.34015702e+01] [-9.49396114e-01 2.67144670e-02 3.12943056e-01 -7.87502205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-63.41, Z:-78.78 [[ 3.00862933e-01 -2.52472545e-01 9.19640750e-01 1.69941350e+02] [ 9.75900280e-02 9.67408590e-01 2.33659597e-01 -6.34114729e+01] [-9.48660994e-01 1.94482549e-02 3.15696188e-01 -7.87763258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:169.94, Y:-63.40, Z:-78.81 [[ 3.01947745e-01 -2.28146723e-01 9.25622294e-01 1.69935327e+02] [ 1.01161336e-01 9.73127450e-01 2.06855866e-01 -6.33964735e+01] [-9.47941951e-01 3.11775259e-02 3.16913267e-01 -7.88119753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:169.95, Y:-63.40, Z:-78.84 [[ 3.00531011e-01 -2.33302046e-01 9.24797960e-01 1.69949294e+02] [ 9.94503970e-02 9.72001371e-01 2.12891884e-01 -6.33971600e+01] [-9.48572997e-01 2.79909112e-02 3.15318535e-01 -7.88398811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:-63.40, Z:-78.87 [[ 2.98285131e-01 -2.36496265e-01 9.24713738e-01 1.69957313e+02] [ 9.97772569e-02 9.71235374e-01 2.16209037e-01 -6.33958619e+01] [-9.49247323e-01 2.77734593e-02 3.13302020e-01 -7.88702258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.97, Y:-63.40, Z:-78.90 [[ 2.99106228e-01 -2.39709198e-01 9.23620574e-01 1.69966604e+02] [ 9.86666009e-02 9.70513747e-01 2.19927189e-01 -6.33952419e+01] [-9.49105034e-01 2.53489106e-02 3.13937998e-01 -7.88963736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-63.40, Z:-78.93 [[ 2.97359838e-01 -2.60243455e-01 9.18613342e-01 1.69986801e+02] [ 9.82732136e-02 9.65367504e-01 2.41677382e-01 -6.34018726e+01] [-9.49694426e-01 1.84099380e-02 3.12636485e-01 -7.89268253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-63.39, Z:-78.96 [[ 3.01599515e-01 -2.38222713e-01 9.23194276e-01 1.69987323e+02] [ 9.63712318e-02 9.70940512e-01 2.19059597e-01 -6.33866000e+01] [-9.48551695e-01 2.29011013e-02 3.15793004e-01 -7.89590211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.99, Y:-63.38, Z:-78.99 [[ 3.02204693e-01 -2.30873062e-01 9.24862126e-01 1.69994465e+02] [ 9.53771235e-02 9.72681624e-01 2.11645136e-01 -6.33796288e+01] [-9.48459555e-01 2.42505359e-02 3.15968960e-01 -7.89908900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23361786499996 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:170.00, Y:-63.38, Z:-79.02 [[ 3.02842100e-01 -2.24448919e-01 9.26233958e-01 1.70000975e+02] [ 9.32185700e-02 9.74188278e-01 2.05590604e-01 -6.33751068e+01] [-9.48470854e-01 2.40807149e-02 3.15948031e-01 -7.90153633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-63.38, Z:-79.04 [[ 3.02860558e-01 -2.45762214e-01 9.20802051e-01 1.70018508e+02] [ 9.49189745e-02 9.69153272e-01 2.27447408e-01 -6.33813092e+01] [-9.48296299e-01 1.85167374e-02 3.16845798e-01 -7.90430641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29361786499996 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:170.03, Y:-63.38, Z:-79.07 [[ 3.00167599e-01 -2.39226997e-01 9.23401243e-01 1.70026316e+02] [ 9.13676373e-02 9.70800681e-01 2.21806206e-01 -6.33756552e+01] [-9.49500588e-01 1.77899534e-02 3.13260515e-01 -7.90696001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:-63.36, Z:-79.10 [[ 3.02680466e-01 -2.18806180e-01 9.27635915e-01 1.70026535e+02] [ 9.28312738e-02 9.75431385e-01 1.99789809e-01 -6.33609001e+01] [-9.48560430e-01 2.56411511e-02 3.15556083e-01 -7.90986368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-63.36, Z:-79.13 [[ 3.00721818e-01 -2.32048603e-01 9.25051260e-01 1.70042254e+02] [ 9.12441373e-02 9.72499293e-01 2.14288665e-01 -6.33645368e+01] [-9.49337082e-01 1.99642271e-02 3.13624830e-01 -7.91266178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:-63.36, Z:-79.16 [[ 3.00097001e-01 -2.32058862e-01 9.25251574e-01 1.70051012e+02] [ 9.05880160e-02 9.72507525e-01 2.14529543e-01 -6.33606043e+01] [-9.49597600e-01 1.94370319e-02 3.12868343e-01 -7.91569081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.06, Y:-63.36, Z:-79.19 [[ 3.00153004e-01 -2.31181131e-01 9.25453110e-01 1.70060467e+02] [ 8.99626034e-02 9.72723620e-01 2.13811807e-01 -6.33575564e+01] [-9.49639355e-01 1.90799152e-02 3.12763573e-01 -7.91876251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44361786499996 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:170.07, Y:-63.36, Z:-79.21 [[ 2.98823086e-01 -2.30424190e-01 9.26072058e-01 1.70067544e+02] [ 8.79144333e-02 9.72931973e-01 2.13715766e-01 -6.33556768e+01] [-9.50250396e-01 1.75518953e-02 3.10992147e-01 -7.92131074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:-63.36, Z:-79.24 [[ 2.99078688e-01 -2.45133606e-01 9.22204670e-01 1.70081995e+02] [ 9.03883693e-02 9.69372334e-01 2.28357660e-01 -6.33592509e+01] [-9.49937830e-01 1.50596668e-02 3.12075833e-01 -7.92398274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50361786499997 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:170.09, Y:-63.35, Z:-79.27 [[ 2.97643287e-01 -2.35266782e-01 9.25234033e-01 1.70086333e+02] [ 8.72985986e-02 9.71805947e-01 2.19025467e-01 -6.33532234e+01] [-9.50677352e-01 1.55801744e-02 3.09789977e-01 -7.92654056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:-63.36, Z:-79.29 [[ 2.96954655e-01 -2.51649947e-01 9.21135298e-01 1.70100535e+02] [ 9.05529008e-02 9.67723153e-01 2.35185184e-01 -6.33552486e+01] [-9.50588294e-01 1.35721379e-02 3.10157528e-01 -7.92922222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.10, Y:-63.34, Z:-79.32 [[ 2.96729325e-01 -2.33948326e-01 9.25861700e-01 1.70098421e+02] [ 9.07433958e-02 9.72048147e-01 2.16536455e-01 -6.33437361e+01] [-9.50640491e-01 1.97631186e-02 3.09664456e-01 -7.93234310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59361786499997 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:170.12, Y:-63.35, Z:-79.35 [[ 2.99043884e-01 -2.43532706e-01 9.22640004e-01 1.70115647e+02] [ 9.19435519e-02 9.69740202e-01 2.26164373e-01 -6.33454202e+01] [-9.49799526e-01 1.71977264e-02 3.12386138e-01 -7.93492914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.12, Y:-63.34, Z:-79.38 [[ 2.96514001e-01 -2.48237355e-01 9.22202615e-01 1.70122643e+02] [ 9.47810765e-02 9.68510099e-01 2.30227572e-01 -6.33437460e+01] [-9.50313630e-01 1.91416581e-02 3.10705008e-01 -7.93778696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-63.34, Z:-79.41 [[ 2.97342413e-01 -2.37276038e-01 9.24817588e-01 1.70125541e+02] [ 9.44519986e-02 9.71186490e-01 2.18804984e-01 -6.33363433e+01] [-9.50087527e-01 2.22908676e-02 3.11186131e-01 -7.94062970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:-63.35, Z:-79.44 [[ 2.99379666e-01 -2.61619659e-01 9.17565785e-01 1.70150340e+02] [ 9.26675574e-02 9.65100141e-01 2.44937628e-01 -6.33461570e+01] [-9.49623367e-01 1.16992348e-02 3.13175012e-01 -7.94357195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.15, Y:-63.33, Z:-79.47 [[ 2.96042729e-01 -2.37124318e-01 9.25273344e-01 1.70145630e+02] [ 9.61788037e-02 9.71172332e-01 2.18114510e-01 -6.33304570e+01] [-9.50320125e-01 2.44204686e-02 3.10314841e-01 -7.94704719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-63.33, Z:-79.50 [[ 2.97500678e-01 -2.36151725e-01 9.25054436e-01 1.70157359e+02] [ 9.58048997e-02 9.71419408e-01 2.17176783e-01 -6.33280018e+01] [-9.49902504e-01 2.40145072e-02 3.11622425e-01 -7.95012312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:-63.33, Z:-79.53 [[ 3.00377308e-01 -2.35054031e-01 9.24404173e-01 1.70169533e+02] [ 9.52426964e-02 9.71707270e-01 2.16133778e-01 -6.33258525e+01] [-9.49053371e-01 2.31210635e-02 3.14265994e-01 -7.95319147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.18, Y:-63.32, Z:-79.56 [[ 2.97727648e-01 -2.34983134e-01 9.25278971e-01 1.70177809e+02] [ 9.37705876e-02 9.71744227e-01 2.16610788e-01 -6.33240346e+01] [-9.50034381e-01 2.22729324e-02 3.11349630e-01 -7.95610412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:-63.33, Z:-79.59 [[ 2.97323823e-01 -2.50146323e-01 9.21425722e-01 1.70195100e+02] [ 9.21525451e-02 9.68082161e-01 2.33076895e-01 -6.33299243e+01] [-9.50319132e-01 1.56124121e-02 3.10885509e-01 -7.95896116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-63.33, Z:-79.62 [[ 3.02112923e-01 -2.48644639e-01 9.20273669e-01 1.70205694e+02] [ 9.17614283e-02 9.68486354e-01 2.31547021e-01 -6.33266934e+01] [-9.48845415e-01 1.44922790e-02 3.15408231e-01 -7.96221346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-63.32, Z:-79.66 [[ 2.99338719e-01 -2.32382776e-01 9.25415894e-01 1.70206753e+02] [ 9.29752070e-02 9.72376653e-01 2.14101041e-01 -6.33162918e+01] [-9.49606204e-01 2.19520027e-02 3.12675819e-01 -7.96556174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:-63.31, Z:-79.69 [[ 2.99174646e-01 -2.31590384e-01 9.25667556e-01 1.70215967e+02] [ 9.27751204e-02 9.72563385e-01 2.13338323e-01 -6.33137017e+01] [-9.49677476e-01 2.20535017e-02 3.12452133e-01 -7.96869610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-63.31, Z:-79.72 [[ 2.99856792e-01 -2.30749359e-01 9.25656868e-01 1.70225791e+02] [ 9.26102229e-02 9.72764298e-01 2.12492275e-01 -6.33111172e+01] [-9.49478410e-01 2.20080368e-02 3.13059732e-01 -7.97180252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.23, Y:-63.31, Z:-79.75 [[ 2.99325685e-01 -2.30092065e-01 9.25992319e-01 1.70234546e+02] [ 9.28793385e-02 9.72905700e-01 2.11726065e-01 -6.33093505e+01] [-9.49619694e-01 2.26305045e-02 3.12586464e-01 -7.97482536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:-63.31, Z:-79.78 [[ 2.99371409e-01 -2.29460940e-01 9.26134135e-01 1.70244703e+02] [ 9.31506456e-02 9.73043455e-01 2.10972491e-01 -6.33072589e+01] [-9.49578705e-01 2.31108607e-02 3.12675825e-01 -7.97796658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:-63.31, Z:-79.81 [[ 2.98472810e-01 -2.28997926e-01 9.26538683e-01 1.70254604e+02] [ 9.39652323e-02 9.73123285e-01 2.10241785e-01 -6.33056017e+01] [-9.49781300e-01 2.43109664e-02 3.11968684e-01 -7.98115217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.26, Y:-63.30, Z:-79.84 [[ 2.98383510e-01 -2.28686996e-01 9.26644235e-01 1.70263591e+02] [ 9.54812627e-02 9.73153013e-01 2.09419535e-01 -6.33019702e+01] [-9.49658154e-01 2.59898258e-02 3.12208135e-01 -7.98432364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:-63.30, Z:-79.87 [[ 2.97911486e-01 -2.27661353e-01 9.27048572e-01 1.70274183e+02] [ 9.45632171e-02 9.73406335e-01 2.08657389e-01 -6.33007210e+01] [-9.49898176e-01 2.55032625e-02 3.11517318e-01 -7.98730708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.28, Y:-63.30, Z:-79.90 [[ 2.93790778e-01 -2.28912800e-01 9.28054906e-01 1.70278387e+02] [ 9.69757199e-02 9.73029454e-01 2.09306931e-01 -6.32977645e+01] [-9.50937794e-01 2.85063464e-02 3.08066064e-01 -7.99030369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-63.30, Z:-79.93 [[ 2.96665383e-01 -2.42885473e-01 9.23577987e-01 1.70298023e+02] [ 9.68376375e-02 9.69782159e-01 2.23930872e-01 -6.33033026e+01] [-9.50059010e-01 2.30045724e-02 3.11221251e-01 -7.99328105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.30, Y:-63.29, Z:-79.96 [[ 2.98405116e-01 -2.26377993e-01 9.27204072e-01 1.70301865e+02] [ 9.66957669e-02 9.73636774e-01 2.06594678e-01 -6.32939679e+01] [-9.49528470e-01 2.80077999e-02 3.12427988e-01 -7.99645973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:-63.30, Z:-79.99 [[ 2.95730921e-01 -2.36978315e-01 9.25410450e-01 1.70312086e+02] [ 9.32561563e-02 9.71275717e-01 2.18921836e-01 -6.32987658e+01] [-9.50708426e-01 2.15582655e-02 3.09335949e-01 -7.99854360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.33, Y:-63.31, Z:-80.02 [[ 2.97107212e-01 -2.61335534e-01 9.18385019e-01 1.70333153e+02] [ 9.55396542e-02 9.65126296e-01 2.43728143e-01 -6.33091832e+01] [-9.50052356e-01 1.53287978e-02 3.11713890e-01 -8.00165292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:-63.30, Z:-80.05 [[ 2.97506497e-01 -2.48425696e-01 9.21832175e-01 1.70339871e+02] [ 9.44728925e-02 9.68474062e-01 2.30505670e-01 -6.33010093e+01] [-9.50034082e-01 1.85112174e-02 3.11596819e-01 -8.00508762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:-63.28, Z:-80.08 [[ 3.01322282e-01 -2.20789772e-01 9.27608085e-01 1.70337114e+02] [ 9.32631445e-02 9.74982400e-01 2.01770426e-01 -6.32848903e+01] [-9.48950404e-01 2.57137217e-02 3.14375470e-01 -8.00849737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.35, Y:-63.28, Z:-80.11 [[ 3.02816761e-01 -2.19432255e-01 9.27443526e-01 1.70350138e+02] [ 9.14801837e-02 9.75332286e-01 2.00893773e-01 -6.32833425e+01] [-9.48648188e-01 2.40087024e-02 3.15420667e-01 -8.01147393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:170.36, Y:-63.28, Z:-80.15 [[ 2.99826653e-01 -2.18769975e-01 9.28570771e-01 1.70355123e+02] [ 9.12539938e-02 9.75464687e-01 2.00353071e-01 -6.32801865e+01] [-9.49619232e-01 2.46646006e-02 3.12433946e-01 -8.01473829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:-63.28, Z:-80.18 [[ 3.00178454e-01 -2.17662307e-01 9.28717404e-01 1.70363851e+02] [ 9.02118182e-02 9.75731748e-01 1.99522889e-01 -6.32778655e+01] [-9.49607668e-01 2.38888133e-02 3.12529361e-01 -8.01782820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:-63.28, Z:-80.21 [[ 2.99114404e-01 -2.16924853e-01 9.29233115e-01 1.70373590e+02] [ 9.00505441e-02 9.75888169e-01 1.98829529e-01 -6.32752696e+01] [-9.49958669e-01 2.42051716e-02 3.11436409e-01 -8.02100322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:-63.27, Z:-80.24 [[ 3.00127835e-01 -2.15897274e-01 9.29145656e-01 1.70383224e+02] [ 8.94960823e-02 9.76127003e-01 1.97905347e-01 -6.32725752e+01] [-9.49691389e-01 2.37579928e-02 3.12284844e-01 -8.02402280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-63.27, Z:-80.27 [[ 2.99455576e-01 -2.15044044e-01 9.29560335e-01 1.70393053e+02] [ 8.91173788e-02 9.76314255e-01 1.97151129e-01 -6.32699704e+01] [-9.49939183e-01 2.38019757e-02 3.11526909e-01 -8.02715214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:-63.27, Z:-80.30 [[ 3.00376762e-01 -2.13704684e-01 9.29572003e-01 1.70405593e+02] [ 8.73915968e-02 9.76644284e-01 1.96287165e-01 -6.32689694e+01] [-9.49808670e-01 2.22766787e-02 3.12037241e-01 -8.03012831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:-63.27, Z:-80.33 [[ 3.00467661e-01 -2.13320690e-01 9.29630823e-01 1.70413813e+02] [ 8.85704076e-02 9.76697194e-01 1.95493923e-01 -6.32652434e+01] [-9.49670715e-01 2.35981791e-02 3.12359822e-01 -8.03325716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:-63.26, Z:-80.36 [[ 2.99834462e-01 -2.12257472e-01 9.30078524e-01 1.70424424e+02] [ 8.75805927e-02 9.76941338e-01 1.94718418e-01 -6.32641382e+01] [-9.49962597e-01 2.30735364e-02 3.11510315e-01 -8.03625906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:-63.26, Z:-80.39 [[ 3.00091848e-01 -2.11809726e-01 9.30097588e-01 1.70434125e+02] [ 8.77541766e-02 9.77032021e-01 1.94184539e-01 -6.32619240e+01] [-9.49865300e-01 2.33467509e-02 3.11786532e-01 -8.03937613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-63.26, Z:-80.43 [[ 3.01871390e-01 -2.11574078e-01 9.29575211e-01 1.70443131e+02] [ 8.96880891e-02 9.77041289e-01 1.93252078e-01 -6.32578600e+01] [-9.49120493e-01 2.50345509e-02 3.13916487e-01 -8.04254132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.46, Y:-63.26, Z:-80.46 [[ 3.04298196e-01 -2.10657271e-01 9.28991993e-01 1.70455320e+02] [ 8.95223311e-02 9.77248989e-01 1.92276276e-01 -6.32557641e+01] [-9.48360881e-01 2.46562049e-02 3.16233634e-01 -8.04557540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:-63.25, Z:-80.49 [[ 3.00756173e-01 -2.10293660e-01 9.30227016e-01 1.70460734e+02] [ 9.05883819e-02 9.77275495e-01 1.91641204e-01 -6.32521982e+01] [-9.49388998e-01 2.66304851e-02 3.12971800e-01 -8.04871517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:-63.25, Z:-80.52 [[ 3.00795934e-01 -2.09753251e-01 9.30336165e-01 1.70470838e+02] [ 9.04723133e-02 9.77390156e-01 1.91110552e-01 -6.32498915e+01] [-9.49387469e-01 2.66843880e-02 3.12971846e-01 -8.05189731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:-63.25, Z:-80.55 [[ 3.00186051e-01 -2.09512100e-01 9.30587457e-01 1.70480058e+02] [ 9.07516673e-02 9.77428170e-01 1.90783405e-01 -6.32477715e+01] [-9.49553827e-01 2.71818464e-02 3.12423875e-01 -8.05508256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:-63.25, Z:-80.58 [[ 3.02657555e-01 -2.08928417e-01 9.29917911e-01 1.70492704e+02] [ 9.16934055e-02 9.77534922e-01 1.89783550e-01 -6.32462437e+01] [-9.48678409e-01 2.78279150e-02 3.15015687e-01 -8.05813519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:-63.24, Z:-80.61 [[ 2.99512044e-01 -2.08426266e-01 9.31048348e-01 1.70499312e+02] [ 9.23138902e-02 9.77599225e-01 1.89150471e-01 -6.32435962e+01] [-9.49616070e-01 2.92958506e-02 3.12043382e-01 -8.06121443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:-63.24, Z:-80.64 [[ 3.00826225e-01 -2.07503105e-01 9.30830835e-01 1.70510539e+02] [ 9.18080566e-02 9.77810007e-01 1.88305259e-01 -6.32426238e+01] [-9.49249632e-01 2.88106099e-02 3.13201350e-01 -8.06424651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:170.52, Y:-63.24, Z:-80.67 [[ 3.00475665e-01 -2.07172178e-01 9.31017757e-01 1.70519734e+02] [ 9.30535963e-02 9.77835845e-01 1.87558228e-01 -6.32396948e+01] [-9.49239381e-01 3.02778673e-02 3.13093992e-01 -8.06734820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-63.25, Z:-80.70 [[ 3.03632461e-01 -2.35386170e-01 9.23255479e-01 1.70547583e+02] [ 9.37713132e-02 9.71681058e-01 2.16893668e-01 -6.32511539e+01] [-9.48163630e-01 2.07189205e-02 3.17106381e-01 -8.06989066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-63.22, Z:-80.74 [[ 2.99961568e-01 -1.72479963e-01 9.38229034e-01 1.70522899e+02] [ 9.47963768e-02 9.84040144e-01 1.50594293e-01 -6.32159427e+01] [-9.49229532e-01 4.37682129e-02 3.11524700e-01 -8.07367198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-63.23, Z:-80.76 [[ 2.98530920e-01 -2.06111442e-01 9.31878406e-01 1.70547790e+02] [ 9.44076101e-02 9.77990994e-01 1.86066703e-01 -6.32319193e+01] [-9.49719165e-01 3.24297491e-02 3.11419040e-01 -8.07629397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-63.25, Z:-80.79 [[ 3.03288644e-01 -2.37429362e-01 9.22845218e-01 1.70579664e+02] [ 9.47687946e-02 9.71175141e-01 2.18718362e-01 -6.32454452e+01] [-9.48174496e-01 2.11221334e-02 3.17047286e-01 -8.07878097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-63.20, Z:-80.83 [[ 3.00505240e-01 -1.64490786e-01 9.39488894e-01 1.70547696e+02] [ 9.50981794e-02 9.85275094e-01 1.42089144e-01 -6.32048895e+01] [-9.49027364e-01 4.66451510e-02 3.11723103e-01 -8.08269168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-63.22, Z:-80.85 [[ 2.99232972e-01 -2.04858034e-01 9.31929619e-01 1.70575172e+02] [ 9.44343663e-02 9.78244220e-01 1.84717073e-01 -6.32237965e+01] [-9.49495539e-01 3.27327443e-02 3.12068563e-01 -8.08537090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-63.22, Z:-80.89 [[ 3.01482286e-01 -1.98785494e-01 9.32519576e-01 1.70581217e+02] [ 9.45644698e-02 9.79437184e-01 1.78214373e-01 -6.32177099e+01] [-9.48770780e-01 3.44547426e-02 3.14081006e-01 -8.08854946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:170.60, Y:-63.22, Z:-80.92 [[ 3.00321608e-01 -2.13149177e-01 9.29717355e-01 1.70597560e+02] [ 9.37577117e-02 9.76588491e-01 1.93608913e-01 -6.32214456e+01] [-9.49218849e-01 2.90232317e-02 3.13275005e-01 -8.09154235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:-63.21, Z:-80.95 [[ 3.01536518e-01 -2.02300626e-01 9.31745773e-01 1.70602936e+02] [ 9.35135600e-02 9.78794780e-01 1.82252551e-01 -6.32131630e+01] [-9.48857704e-01 3.21750648e-02 3.14060221e-01 -8.09476144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:-63.22, Z:-80.97 [[ 3.09862649e-01 -2.25510674e-01 9.23650407e-01 1.70632445e+02] [ 9.36486342e-02 9.73979721e-01 2.06381774e-01 -6.32223310e+01] [-9.46158059e-01 2.25485959e-02 3.22918703e-01 -8.09740690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-63.20, Z:-81.01 [[ 3.04407892e-01 -1.89690997e-01 9.33462994e-01 1.70621105e+02] [ 9.33100886e-02 9.81195753e-01 1.68961892e-01 -6.32003100e+01] [-9.47960475e-01 3.56681815e-02 3.16383814e-01 -8.10071716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.64, Y:-63.20, Z:-81.04 [[ 3.04790105e-01 -2.03316956e-01 9.30465049e-01 1.70638172e+02] [ 9.27988352e-02 9.78639878e-01 1.83445810e-01 -6.32049903e+01] [-9.47887846e-01 3.04336050e-02 3.17147328e-01 -8.10351110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:-63.20, Z:-81.07 [[ 3.06474354e-01 -2.05457060e-01 9.29441159e-01 1.70651029e+02] [ 9.18541330e-02 9.78254519e-01 1.85959444e-01 -6.32037803e+01] [-9.47436694e-01 2.83812114e-02 3.18682001e-01 -8.10654043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.63, Y:-63.17, Z:-81.10 [[ 3.01387250e-01 -1.52543047e-01 9.41220667e-01 1.70628022e+02] [ 9.19092547e-02 9.87171092e-01 1.30560041e-01 -6.31732779e+01] [-9.49061860e-01 4.71577582e-02 3.11540898e-01 -8.11026097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.69, Y:-63.22, Z:-81.12 [[ 3.06593365e-01 -2.37412956e-01 9.21756799e-01 1.70685354e+02] [ 9.17760322e-02 9.71255532e-01 2.19635726e-01 -6.32157259e+01] [-9.47405757e-01 1.72563254e-02 3.19569320e-01 -8.11219924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:-63.18, Z:-81.16 [[ 3.05809897e-01 -1.80346463e-01 9.34855850e-01 1.70666038e+02] [ 9.14809805e-02 9.82918770e-01 1.59693213e-01 -6.31840086e+01] [-9.47687468e-01 3.66857646e-02 3.17084559e-01 -8.11598057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-63.19, Z:-81.19 [[ 3.04118108e-01 -1.90791249e-01 9.33333207e-01 1.70679388e+02] [ 9.11738657e-02 9.81071082e-01 1.70841616e-01 -6.31862990e+01] [-9.48261305e-01 3.31395674e-02 3.15756657e-01 -8.11892580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:-63.18, Z:-81.22 [[ 3.02799874e-01 -1.89536175e-01 9.34017277e-01 1.70687160e+02] [ 9.12280760e-02 9.81289464e-01 1.69553610e-01 -6.31831002e+01] [-9.48677856e-01 3.38677873e-02 3.14425347e-01 -8.12198994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-63.20, Z:-81.25 [[ 3.06441950e-01 -2.16949962e-01 9.26836579e-01 1.70715704e+02] [ 9.07172487e-02 9.75905353e-01 1.98441735e-01 -6.31958557e+01] [-9.47556706e-01 2.32691922e-02 3.18739444e-01 -8.12460645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-63.15, Z:-81.29 [[ 3.00172661e-01 -1.38713723e-01 9.43745133e-01 1.70679418e+02] [ 9.19267960e-02 9.88971704e-01 1.16122491e-01 -6.31514752e+01] [-9.49445016e-01 5.18986692e-02 3.09613776e-01 -8.12859198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:-63.20, Z:-81.30 [[ 3.03906829e-01 -2.33164311e-01 9.23728880e-01 1.70739847e+02] [ 9.24557498e-02 9.72230272e-01 2.14988913e-01 -6.31994394e+01] [-9.48204922e-01 2.00674472e-02 3.17024801e-01 -8.13048227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:-63.15, Z:-81.34 [[ 2.99485523e-01 -1.52746247e-01 9.41794566e-01 1.70703738e+02] [ 9.43062485e-02 9.87007024e-01 1.30090220e-01 -6.31536450e+01] [-9.49428645e-01 4.98569748e-02 3.09999241e-01 -8.13448449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:-63.18, Z:-81.37 [[ 2.97941544e-01 -1.98768486e-01 9.33660498e-01 1.70733061e+02] [ 9.47431861e-02 9.79408999e-01 1.78274344e-01 -6.31753690e+01] [-9.49870815e-01 3.53426369e-02 3.10638589e-01 -8.13713679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:-63.17, Z:-81.40 [[ 2.98248396e-01 -1.98512246e-01 9.33617043e-01 1.70743130e+02] [ 9.48061833e-02 9.79457719e-01 1.77972929e-01 -6.31725766e+01] [-9.49768225e-01 3.54325280e-02 3.10941882e-01 -8.14030087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-63.17, Z:-81.43 [[ 2.97688589e-01 -1.97787155e-01 9.33949541e-01 1.70751608e+02] [ 9.49656095e-02 9.79585619e-01 1.77182243e-01 -6.31682665e+01] [-9.49927911e-01 3.59479555e-02 3.10394439e-01 -8.14331697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.76, Y:-63.17, Z:-81.46 [[ 2.97710305e-01 -1.96962871e-01 9.34116803e-01 1.70761132e+02] [ 9.46513684e-02 9.79753684e-01 1.76419491e-01 -6.31650480e+01] [-9.49952469e-01 3.58935333e-02 3.10325573e-01 -8.14648327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-63.16, Z:-81.50 [[ 2.97959680e-01 -1.96125154e-01 9.34213548e-01 1.70770568e+02] [ 9.44318614e-02 9.79921593e-01 1.75602662e-01 -6.31619996e+01] [-9.49896127e-01 3.58970112e-02 3.10497588e-01 -8.14953618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:-63.16, Z:-81.53 [[ 2.97720390e-01 -1.95348953e-01 9.34452436e-01 1.70780045e+02] [ 9.42095414e-02 9.80073884e-01 1.74870651e-01 -6.31589819e+01] [-9.49993227e-01 3.59717771e-02 3.10191715e-01 -8.15267686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:-63.16, Z:-81.56 [[ 2.98096817e-01 -1.94490337e-01 9.34511528e-01 1.70788902e+02] [ 9.40049430e-02 9.80244576e-01 1.74021956e-01 -6.31552348e+01] [-9.49895446e-01 3.59733118e-02 3.10490841e-01 -8.15571496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-63.15, Z:-81.59 [[ 2.98403113e-01 -1.93625057e-01 9.34593451e-01 1.70798361e+02] [ 9.35909346e-02 9.80423121e-01 1.73237526e-01 -6.31521076e+01] [-9.49840154e-01 3.57748576e-02 3.10682862e-01 -8.15875355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:-63.15, Z:-81.62 [[ 3.01845770e-01 -1.92917341e-01 9.33633777e-01 1.70810188e+02] [ 9.30484564e-02 9.80597951e-01 1.72538816e-01 -6.31493757e+01] [-9.48805099e-01 3.47930699e-02 3.13940005e-01 -8.16183242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:-63.16, Z:-81.65 [[ 3.04308592e-01 -2.17445391e-01 9.27423195e-01 1.70835339e+02] [ 9.02232972e-02 9.75800005e-01 1.99183599e-01 -6.31593575e+01] [-9.48291114e-01 2.30618980e-02 3.16562966e-01 -8.16470658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:-63.13, Z:-81.68 [[ 3.04812416e-01 -1.75384742e-01 9.36124769e-01 1.70826868e+02] [ 8.83293129e-02 9.83868059e-01 1.55568552e-01 -6.31348302e+01] [-9.48307610e-01 3.52680314e-02 3.15386814e-01 -8.16824453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:-63.11, Z:-81.71 [[ 3.00525520e-01 -1.39237518e-01 9.43555682e-01 1.70814056e+02] [ 8.59921720e-02 9.89213144e-01 1.18586261e-01 -6.31100270e+01] [-9.49889340e-01 4.55002047e-02 3.09257131e-01 -8.17147878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:-63.13, Z:-81.74 [[ 2.98885555e-01 -1.88836009e-01 9.35418830e-01 1.70843761e+02] [ 8.35668988e-02 9.81639544e-01 1.71465390e-01 -6.31345442e+01] [-9.50622953e-01 2.69215225e-02 3.09178319e-01 -8.17405487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-63.13, Z:-81.77 [[ 2.99292040e-01 -1.87491954e-01 9.35559214e-01 1.70853105e+02] [ 8.15461770e-02 9.81942781e-01 1.70700311e-01 -6.31312925e+01] [-9.50670551e-01 2.52020328e-02 3.09176910e-01 -8.17715311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:-63.13, Z:-81.80 [[ 2.99636906e-01 -1.85632381e-01 9.35819611e-01 1.70862663e+02] [ 7.79660944e-02 9.82371765e-01 1.69902926e-01 -6.31276199e+01] [-9.50862247e-01 2.20530129e-02 3.08827868e-01 -8.18031033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-63.12, Z:-81.83 [[ 2.99339718e-01 -1.84378682e-01 9.36162505e-01 1.70871875e+02] [ 7.63867548e-02 9.82633249e-01 1.69106360e-01 -6.31249458e+01] [-9.51084012e-01 2.08901656e-02 3.08225249e-01 -8.18342927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.88, Y:-63.12, Z:-81.86 [[ 3.02876477e-01 -1.82815951e-01 9.35331047e-01 1.70883156e+02] [ 7.42054801e-02 9.82973203e-01 1.68098864e-01 -6.31224603e+01] [-9.50136509e-01 1.84934978e-02 3.11285406e-01 -8.18642082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.89, Y:-63.12, Z:-81.90 [[ 3.00276815e-01 -1.82458665e-01 9.36238575e-01 1.70890136e+02] [ 7.51794800e-02 9.83008025e-01 1.67461245e-01 -6.31186842e+01] [-9.50884788e-01 2.01012000e-02 3.08891667e-01 -8.18966168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:-63.12, Z:-81.93 [[ 3.01927287e-01 -1.81395290e-01 9.35914345e-01 1.70901869e+02] [ 7.45272133e-02 9.83217430e-01 1.66520806e-01 -6.31163013e+01] [-9.50413388e-01 1.94739126e-02 3.10379057e-01 -8.19276729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:-63.11, Z:-81.96 [[ 2.99155734e-01 -1.80457453e-01 9.36985034e-01 1.70909799e+02] [ 7.38172347e-02 9.83388328e-01 1.65826452e-01 -6.31144059e+01] [-9.51344765e-01 1.95577100e-02 3.07507127e-01 -8.19586223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:-63.11, Z:-81.99 [[ 2.98800357e-01 -1.80026138e-01 9.37181379e-01 1.70919174e+02] [ 7.40410628e-02 9.83458577e-01 1.65309253e-01 -6.31125194e+01] [-9.51439051e-01 1.99954415e-02 3.07187101e-01 -8.19890774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:-63.11, Z:-82.02 [[ 2.98070392e-01 -1.79764631e-01 9.37463983e-01 1.70928075e+02] [ 7.54984307e-02 9.83469832e-01 1.64581517e-01 -6.31109638e+01] [-9.51553482e-01 2.17201822e-02 3.06715186e-01 -8.20193478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:-63.11, Z:-82.05 [[ 2.97069290e-01 -1.80023699e-01 9.37732000e-01 1.70934549e+02] [ 7.86598659e-02 9.83342396e-01 1.63860789e-01 -6.31068431e+01] [-9.51610457e-01 2.50838653e-02 3.06281468e-01 -8.20519324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-63.11, Z:-82.08 [[ 2.99176600e-01 -1.79850263e-01 9.37095110e-01 1.70945936e+02] [ 8.09890642e-02 9.83318731e-01 1.62865112e-01 -6.31050673e+01] [-9.50754508e-01 2.71690257e-02 3.08751859e-01 -8.20828132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:-63.10, Z:-82.11 [[ 2.97857472e-01 -1.78911710e-01 9.37694794e-01 1.70955579e+02] [ 8.04965747e-02 9.83488947e-01 1.62079585e-01 -6.31047695e+01] [-9.51210401e-01 2.72046036e-02 3.07341311e-01 -8.21135033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:-63.10, Z:-82.14 [[ 2.99929336e-01 -1.79418128e-01 9.36937313e-01 1.70964910e+02] [ 8.48765081e-02 9.83278073e-01 1.61121726e-01 -6.31013405e+01] [-9.50178074e-01 3.11988352e-02 3.10142323e-01 -8.21448560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:-63.10, Z:-82.18 [[ 2.97848986e-01 -1.78568049e-01 9.37762994e-01 1.70974403e+02] [ 8.46279116e-02 9.83420285e-01 1.60382852e-01 -6.31011848e+01] [-9.50854404e-01 3.15910538e-02 3.08022576e-01 -8.21757713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:-63.10, Z:-82.21 [[ 2.97828185e-01 -1.78106587e-01 9.37857354e-01 1.70984171e+02] [ 8.55953618e-02 9.83466156e-01 1.59586198e-01 -6.30994595e+01] [-9.50774319e-01 3.27469719e-02 3.08149038e-01 -8.22063692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:-63.10, Z:-82.24 [[ 2.97133406e-01 -1.77681770e-01 9.38158264e-01 1.70993528e+02] [ 8.65975663e-02 9.83498921e-01 1.58841855e-01 -6.30975440e+01] [-9.50900942e-01 3.40450010e-02 3.07617193e-01 -8.22377843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-63.10, Z:-82.27 [[ 2.96663073e-01 -1.77230403e-01 9.38392458e-01 1.71003114e+02] [ 8.76777088e-02 9.83532803e-01 1.58037477e-01 -6.30955742e+01] [-9.50948811e-01 3.53922169e-02 3.07317020e-01 -8.22686267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:-63.09, Z:-82.30 [[ 2.95626346e-01 -1.76960049e-01 9.38770582e-01 1.71012394e+02] [ 8.91657299e-02 9.83514785e-01 1.57315417e-01 -6.30938059e+01] [-9.51133291e-01 3.71995821e-02 3.06531654e-01 -8.22991910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:-63.09, Z:-82.33 [[ 2.95471069e-01 -1.76332055e-01 9.38937620e-01 1.71022126e+02] [ 8.94702333e-02 9.83606742e-01 1.56565814e-01 -6.30921162e+01] [-9.51152945e-01 3.77462994e-02 3.06403805e-01 -8.23307780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.03, Y:-63.09, Z:-82.36 [[ 2.95274089e-01 -1.75611592e-01 9.39134592e-01 1.71031042e+02] [ 8.97280130e-02 9.83714936e-01 1.55736345e-01 -6.30900350e+01] [-9.51189832e-01 3.82817735e-02 3.06222811e-01 -8.23616470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:-63.09, Z:-82.39 [[ 2.95459589e-01 -1.74725328e-01 9.39241551e-01 1.71040461e+02] [ 8.92543739e-02 9.83881762e-01 1.54952687e-01 -6.30879324e+01] [-9.51176791e-01 3.80491592e-02 3.06292301e-01 -8.23927398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-63.09, Z:-82.42 [[ 2.95572102e-01 -1.73665938e-01 9.39402616e-01 1.71049615e+02] [ 8.83636215e-02 9.84092142e-01 1.54125037e-01 -6.30858025e+01] [-9.51225001e-01 3.74539559e-02 3.06215934e-01 -8.24239142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-63.07, Z:-82.46 [[ 3.00061967e-01 -1.55214781e-01 9.41207303e-01 1.71052925e+02] [ 8.93068066e-02 9.86910888e-01 1.34280281e-01 -6.30730336e+01] [-9.49730020e-01 4.37638135e-02 3.09996159e-01 -8.24617572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-63.05, Z:-82.50 [[ 3.01786785e-01 -1.20618299e-01 9.45714525e-01 1.71049991e+02] [ 8.95084610e-02 9.91167562e-01 9.78524408e-02 -6.30520288e+01] [-9.49164355e-01 5.51188782e-02 3.09917630e-01 -8.24961393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:-63.06, Z:-82.52 [[ 2.97015817e-01 -1.43190823e-01 9.44075205e-01 1.71067082e+02] [ 8.54966731e-02 9.88709233e-01 1.23062468e-01 -6.30643430e+01] [-9.51037288e-01 4.41637898e-02 3.05904620e-01 -8.25182484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-63.08, Z:-82.55 [[ 2.96449403e-01 -1.71270001e-01 9.39566037e-01 1.71088992e+02] [ 8.40518424e-02 9.84650169e-01 1.52968404e-01 -6.30779416e+01] [-9.51342756e-01 3.36248646e-02 3.06294514e-01 -8.25470647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:-63.08, Z:-82.58 [[ 2.95983278e-01 -1.69837009e-01 9.39973026e-01 1.71097985e+02] [ 8.18535486e-02 9.84955907e-01 1.52190201e-01 -6.30752135e+01] [-9.51679513e-01 3.18943733e-02 3.05432240e-01 -8.25783617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:-63.07, Z:-82.61 [[ 2.95370600e-01 -1.69275241e-01 9.40267037e-01 1.71104147e+02] [ 8.25997068e-02 9.85017818e-01 1.51384233e-01 -6.30708977e+01] [-9.51805388e-01 3.29513300e-02 3.04927389e-01 -8.26111809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:-63.07, Z:-82.64 [[ 2.96062802e-01 -1.67575859e-01 9.40353736e-01 1.71116807e+02] [ 7.96644761e-02 9.85391926e-01 1.50520177e-01 -6.30706964e+01] [-9.51840527e-01 3.03493624e-02 3.05087738e-01 -8.26402884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:-63.07, Z:-82.67 [[ 2.95493622e-01 -1.66696838e-01 9.40688941e-01 1.71125552e+02] [ 7.83750725e-02 9.85569981e-01 1.50030535e-01 -6.30682612e+01] [-9.52124397e-01 2.93934977e-02 3.04294520e-01 -8.26707730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:-63.07, Z:-82.70 [[ 2.95128773e-01 -1.65856398e-01 9.40951998e-01 1.71134543e+02] [ 7.79875794e-02 9.85713829e-01 1.49285582e-01 -6.30661616e+01] [-9.52269366e-01 2.93240981e-02 3.03847251e-01 -8.27021274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-63.06, Z:-82.73 [[ 2.94368424e-01 -1.65076240e-01 9.41327290e-01 1.71144130e+02] [ 7.79867068e-02 9.85833551e-01 1.48493381e-01 -6.30640831e+01] [-9.52504753e-01 2.96992528e-02 3.03072021e-01 -8.27330640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-63.06, Z:-82.76 [[ 2.98736704e-01 -1.64527151e-01 9.40046381e-01 1.71156971e+02] [ 7.80272902e-02 9.85940044e-01 1.47763231e-01 -6.30621500e+01] [-9.51140433e-01 2.92069712e-02 3.07374086e-01 -8.27636709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-63.06, Z:-82.79 [[ 2.97293157e-01 -1.63721313e-01 9.40644519e-01 1.71164367e+02] [ 7.80287510e-02 9.86059279e-01 1.46964664e-01 -6.30595819e+01] [-9.51592504e-01 2.97057279e-02 3.05923645e-01 -8.27945051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:-63.08, Z:-82.82 [[ 3.02452542e-01 -2.08950351e-01 9.29979683e-01 1.71203935e+02] [ 7.52894896e-02 9.77864698e-01 1.95223270e-01 -6.30844568e+01] [-9.50186273e-01 1.09719215e-02 3.11489428e-01 -8.28199011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-63.02, Z:-82.86 [[ 2.95578828e-01 -9.34641887e-02 9.50735295e-01 1.71155516e+02] [ 7.67758127e-02 9.94307523e-01 7.38784408e-02 -6.30174376e+01] [-9.52228245e-01 5.11565720e-02 3.01072042e-01 -8.28620509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-63.08, Z:-82.88 [[ 3.00644103e-01 -1.99556335e-01 9.32625537e-01 1.71216933e+02] [ 7.45750545e-02 9.79789898e-01 1.85607968e-01 -6.30762720e+01] [-9.50816325e-01 1.37486590e-02 3.09449980e-01 -8.28825599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:-63.02, Z:-82.93 [[ 2.96315436e-01 -9.91167773e-02 9.49933170e-01 1.71177505e+02] [ 7.63186538e-02 9.93877331e-01 7.98956445e-02 -6.30178663e+01] [-9.52036042e-01 4.88233080e-02 3.02065654e-01 -8.29254866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:-63.05, Z:-82.95 [[ 2.93765770e-01 -1.58211090e-01 9.42693441e-01 1.71208555e+02] [ 7.38069855e-02 9.87017491e-01 1.42649924e-01 -6.30493037e+01] [-9.53023715e-01 2.76716964e-02 3.01629037e-01 -8.29499584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:-63.07, Z:-82.98 [[ 2.99839060e-01 -1.94863635e-01 9.33876170e-01 1.71241077e+02] [ 7.26917141e-02 9.80737110e-01 1.81302606e-01 -6.30686274e+01] [-9.51216302e-01 1.35234567e-02 3.08228265e-01 -8.29760529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:-63.02, Z:-83.01 [[ 2.98803013e-01 -1.10341781e-01 9.47914263e-01 1.71211929e+02] [ 7.30918453e-02 9.93021472e-01 9.25523513e-02 -6.30199028e+01] [-9.51511609e-01 4.16298813e-02 3.04782892e-01 -8.30149527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:-63.06, Z:-83.04 [[ 2.97677539e-01 -1.87944563e-01 9.35983399e-01 1.71252369e+02] [ 7.16397813e-02 9.82063023e-01 1.74413191e-01 -6.30611107e+01] [-9.51974697e-01 1.51347565e-02 3.05802411e-01 -8.30380377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:-63.03, Z:-83.08 [[ 2.94982742e-01 -1.25697262e-01 9.47198702e-01 1.71233045e+02] [ 7.05832534e-02 9.91467569e-01 1.09590434e-01 -6.30259937e+01] [-9.52892012e-01 3.45290792e-02 3.01337944e-01 -8.30752169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-63.04, Z:-83.10 [[ 2.97665382e-01 -1.57511609e-01 9.41586647e-01 1.71256249e+02] [ 7.01845187e-02 9.87236756e-01 1.42960554e-01 -6.30425249e+01] [-9.52086894e-01 2.35303977e-02 3.04921083e-01 -8.31027489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-63.04, Z:-83.13 [[ 2.95215664e-01 -1.55658894e-01 9.42665381e-01 1.71263882e+02] [ 6.65886587e-02 9.87592188e-01 1.42223842e-01 -6.30415806e+01] [-9.53107372e-01 2.07841172e-02 3.01917800e-01 -8.31341059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:-63.04, Z:-83.17 [[ 2.96660594e-01 -1.54967232e-01 9.42325660e-01 1.71272309e+02] [ 6.69866527e-02 9.87692257e-01 1.41339285e-01 -6.30387341e+01] [-9.52630716e-01 2.11934454e-02 3.03390108e-01 -8.31662429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:-63.04, Z:-83.20 [[ 2.97550617e-01 -1.53648369e-01 9.42261009e-01 1.71282059e+02] [ 6.54913993e-02 9.87924581e-01 1.40413318e-01 -6.30372804e+01] [-9.52457089e-01 1.99299226e-02 3.04020216e-01 -8.31968564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:-63.04, Z:-83.23 [[ 2.98805609e-01 -1.51996203e-01 9.42131818e-01 1.71293325e+02] [ 6.27031110e-02 9.88228304e-01 1.39546193e-01 -6.30370007e+01] [-9.52251820e-01 1.73774107e-02 3.04818795e-01 -8.32279957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:-63.04, Z:-83.26 [[ 2.98037731e-01 -1.50838784e-01 9.42560965e-01 1.71301543e+02] [ 6.16411783e-02 9.88416174e-01 1.38686092e-01 -6.30357922e+01] [-9.52561744e-01 1.67668803e-02 3.03883194e-01 -8.32584099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:-63.04, Z:-83.29 [[ 2.99877800e-01 -1.49602811e-01 9.42174243e-01 1.71312448e+02] [ 6.03454624e-02 9.88624026e-01 1.37771405e-01 -6.30363867e+01] [-9.52067083e-01 1.55413545e-02 3.05494249e-01 -8.32897449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:-63.04, Z:-83.32 [[ 2.97825755e-01 -1.48879409e-01 9.42939415e-01 1.71318656e+02] [ 6.05621076e-02 9.88720836e-01 1.36979340e-01 -6.30352022e+01] [-9.52697250e-01 1.63104230e-02 3.03482980e-01 -8.33208109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:-63.04, Z:-83.35 [[ 3.02848634e-01 -1.47087574e-01 9.41619855e-01 1.71334309e+02] [ 5.76662372e-02 9.89036347e-01 1.35947447e-01 -6.30361648e+01] [-9.51292442e-01 1.31281751e-02 3.08010294e-01 -8.33498428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.34, Y:-63.03, Z:-83.38 [[ 3.02580935e-01 -1.46997160e-01 9.41720029e-01 1.71342931e+02] [ 5.99097410e-02 9.89014986e-01 1.35130235e-01 -6.30348808e+01] [-9.51238982e-01 1.55303701e-02 3.08063641e-01 -8.33813239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-63.05, Z:-83.41 [[ 3.04011230e-01 -1.76132509e-01 9.36244899e-01 1.71368300e+02] [ 5.98270728e-02 9.84350416e-01 1.65755783e-01 -6.30536986e+01] [-9.50788038e-01 5.62117214e-03 3.09791074e-01 -8.34089684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.36, Y:-63.03, Z:-83.44 [[ 3.04107435e-01 -1.33909973e-01 9.43179085e-01 1.71361512e+02] [ 6.06678862e-02 9.90783695e-01 1.21107713e-01 -6.30305240e+01] [-9.50703989e-01 2.03909253e-02 3.09428723e-01 -8.34445344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-63.03, Z:-83.48 [[ 3.03829172e-01 -1.34410921e-01 9.43197508e-01 1.71372722e+02] [ 6.25771294e-02 9.90675773e-01 1.21019071e-01 -6.30324373e+01] [-9.50669205e-01 2.22534685e-02 3.09407249e-01 -8.34757533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:-63.02, Z:-83.50 [[ 2.93208873e-01 -1.12561256e-01 9.49399031e-01 1.71362826e+02] [ 6.06297438e-02 9.93235286e-01 9.90338407e-02 -6.30201758e+01] [-9.54123991e-01 2.85242191e-02 2.98049959e-01 -8.35014993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:-63.07, Z:-83.53 [[ 2.96846989e-01 -2.04426749e-01 9.32786990e-01 1.71414710e+02] [ 6.36178608e-02 9.78880441e-01 1.94282915e-01 -6.30696693e+01] [-9.52803565e-01 1.66961470e-03 3.03582904e-01 -8.35263153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:-63.02, Z:-83.57 [[ 2.94780872e-01 -1.12430977e-01 9.48927559e-01 1.71382916e+02] [ 6.51077029e-02 9.93109450e-01 9.74402725e-02 -6.30203121e+01] [-9.53344232e-01 3.30589651e-02 3.00069793e-01 -8.35665022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.42, Y:-63.05, Z:-83.59 [[ 2.98332935e-01 -1.64904775e-01 9.40108438e-01 1.71417901e+02] [ 6.63205912e-02 9.86162619e-01 1.51937056e-01 -6.30497433e+01] [-9.52154945e-01 1.70207197e-02 3.05141370e-01 -8.35916958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:-63.02, Z:-83.63 [[ 2.96946208e-01 -1.03284686e-01 9.49291959e-01 1.71398558e+02] [ 6.77192209e-02 9.93907836e-01 8.69558535e-02 -6.30152204e+01] [-9.52489925e-01 3.84641009e-02 3.02131521e-01 -8.36292941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-63.03, Z:-83.66 [[ 2.94523625e-01 -1.36214875e-01 9.45886538e-01 1.71421536e+02] [ 6.68708633e-02 9.90300817e-01 1.21789081e-01 -6.30336421e+01] [-9.53301695e-01 2.73824877e-02 3.00775792e-01 -8.36557359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:-63.04, Z:-83.69 [[ 2.94022764e-01 -1.40928128e-01 9.45351721e-01 1.71433726e+02] [ 6.72154980e-02 9.89670162e-01 1.26629565e-01 -6.30374958e+01] [-9.53432059e-01 2.63103120e-02 3.00458111e-01 -8.36851473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:-63.04, Z:-83.72 [[ 2.94278128e-01 -1.40395711e-01 9.45351484e-01 1.71443616e+02] [ 6.71160181e-02 9.89745019e-01 1.26096147e-01 -6.30369357e+01] [-9.53360280e-01 2.63408892e-02 3.00683113e-01 -8.37162786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:-63.05, Z:-83.74 [[ 3.00534134e-01 -1.69116618e-01 9.38657980e-01 1.71472283e+02] [ 6.56505450e-02 9.85488208e-01 1.56534336e-01 -6.30548843e+01] [-9.51508928e-01 1.45794969e-02 3.07275443e-01 -8.37437880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:-63.03, Z:-83.78 [[ 3.02454963e-01 -1.19067213e-01 9.45697623e-01 1.71460952e+02] [ 6.42165199e-02 9.92458256e-01 1.04416709e-01 -6.30278291e+01] [-9.50998020e-01 2.91480584e-02 3.07820007e-01 -8.37797857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.47, Y:-63.03, Z:-83.81 [[ 3.03080001e-01 -1.22803032e-01 9.45019539e-01 1.71473532e+02] [ 6.24037812e-02 9.92091330e-01 1.08906199e-01 -6.30304179e+01] [-9.50919703e-01 2.59655017e-02 3.08346415e-01 -8.38096972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:-63.02, Z:-83.84 [[ 3.02181883e-01 -1.07196869e-01 9.47203748e-01 1.71474872e+02] [ 5.94830939e-02 9.93840949e-01 9.34982836e-02 -6.30220595e+01] [-9.51392596e-01 2.80891222e-02 3.06697131e-01 -8.38411823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:-63.02, Z:-83.87 [[ 2.97478380e-01 -9.70991748e-02 9.49778060e-01 1.71475686e+02] [ 5.75539484e-02 9.94829354e-01 8.36785532e-02 -6.30153593e+01] [-9.52992212e-01 2.97709170e-02 3.01528665e-01 -8.38712810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:171.50, Y:-63.04, Z:-83.90 [[ 2.97241606e-01 -1.34061348e-01 9.45343844e-01 1.71500247e+02] [ 5.51333184e-02 9.90851716e-01 1.23179520e-01 -6.30367959e+01] [-9.53209182e-01 1.55058650e-02 3.01913602e-01 -8.38991801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:-63.04, Z:-83.93 [[ 2.97362872e-01 -1.32730534e-01 9.45493484e-01 1.71512063e+02] [ 5.19282256e-02 9.91072292e-01 1.22797280e-01 -6.30368866e+01] [-9.53351342e-01 1.25824471e-02 3.01600565e-01 -8.39297432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:-63.03, Z:-83.96 [[ 2.97873862e-01 -1.27193535e-01 9.46093530e-01 1.71519988e+02] [ 5.09041212e-02 9.91789862e-01 1.17310021e-01 -6.30342335e+01] [-9.53247047e-01 1.32164708e-02 3.01902952e-01 -8.39633329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:-63.03, Z:-83.99 [[ 2.98675340e-01 -1.19583527e-01 9.46833048e-01 1.71527134e+02] [ 4.97436843e-02 9.92720606e-01 1.09687574e-01 -6.30299996e+01] [-9.53057505e-01 1.43379908e-02 3.02449690e-01 -8.39942113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:-63.03, Z:-84.02 [[ 3.00341684e-01 -1.27486675e-01 9.45273516e-01 1.71541558e+02] [ 4.86162983e-02 9.91785532e-01 1.18312781e-01 -6.30338703e+01] [-9.52591900e-01 1.04214393e-02 3.04072467e-01 -8.40227980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:-63.03, Z:-84.05 [[ 3.00107645e-01 -1.16702330e-01 9.46739652e-01 1.71546409e+02] [ 4.68414763e-02 9.93093656e-01 1.07567966e-01 -6.30290154e+01] [-9.52754574e-01 1.20647140e-02 3.03501507e-01 -8.40548547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:171.57, Y:-63.04, Z:-84.08 [[ 3.01125680e-01 -1.39970782e-01 9.43255800e-01 1.71569679e+02] [ 4.65147569e-02 9.90147134e-01 1.32079634e-01 -6.30416826e+01] [-9.52449317e-01 4.10274472e-03 3.04669436e-01 -8.40821472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-63.04, Z:-84.11 [[ 3.01287566e-01 -1.43241210e-01 9.42712978e-01 1.71581831e+02] [ 4.72917230e-02 9.89680399e-01 1.35263451e-01 -6.30429983e+01] [-9.52359856e-01 3.82932520e-03 3.04952522e-01 -8.41136334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-63.03, Z:-84.15 [[ 2.99815709e-01 -1.21072627e-01 9.46283234e-01 1.71583621e+02] [ 4.68889142e-02 9.92585455e-01 1.12140733e-01 -6.30316927e+01] [-9.52844148e-01 1.07486401e-02 3.03269676e-01 -8.41461109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-63.02, Z:-84.18 [[ 2.95511353e-01 -9.90790522e-02 9.50187551e-01 1.71580272e+02] [ 4.71495528e-02 9.94908003e-01 8.90785337e-02 -6.30197677e+01] [-9.54175015e-01 1.84772001e-02 2.98678143e-01 -8.41786747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:-63.05, Z:-84.20 [[ 3.01476104e-01 -1.51973879e-01 9.41284282e-01 1.71616980e+02] [ 4.88169496e-02 9.88381207e-01 1.43942680e-01 -6.30486588e+01] [-9.52223222e-01 2.55534891e-03 3.05392217e-01 -8.42032661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:171.61, Y:-63.03, Z:-84.24 [[ 3.00577801e-01 -1.16603224e-01 9.46602701e-01 1.71612037e+02] [ 4.75713620e-02 9.93096069e-01 1.07224824e-01 -6.30279962e+01] [-9.52570182e-01 1.28017779e-02 3.04049606e-01 -8.42379073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:-63.02, Z:-84.27 [[ 3.01680636e-01 -1.05106316e-01 9.47597729e-01 1.71613836e+02] [ 4.76456734e-02 9.94324879e-01 9.51205824e-02 -6.30193129e+01] [-9.52217771e-01 1.64528941e-02 3.04976423e-01 -8.42701851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:-63.01, Z:-84.30 [[ 2.96994546e-01 -9.23302052e-02 9.50404847e-01 1.71612436e+02] [ 4.67506205e-02 9.95526611e-01 8.21044813e-02 -6.30107342e+01] [-9.53734040e-01 2.00474332e-02 2.99982469e-01 -8.43037828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:-63.04, Z:-84.32 [[ 3.01765190e-01 -1.52117494e-01 9.41168443e-01 1.71654218e+02] [ 4.46207927e-02 9.88360606e-01 1.45438297e-01 -6.30412212e+01] [-9.52337522e-01 -1.89253348e-03 3.05040429e-01 -8.43245217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:171.64, Y:-63.01, Z:-84.36 [[ 3.04584667e-01 -9.28660522e-02 9.47947297e-01 1.71635649e+02] [ 4.60764324e-02 9.95507051e-01 8.27204584e-02 -6.30077337e+01] [-9.51370140e-01 1.84826463e-02 3.07495120e-01 -8.43610965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:-63.03, Z:-84.39 [[ 3.04241323e-01 -1.40378676e-01 9.42194802e-01 1.71665553e+02] [ 4.73957968e-02 9.90087967e-01 1.32209897e-01 -6.30334886e+01] [-9.51415186e-01 4.43235918e-03 3.07879032e-01 -8.43864031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:-63.02, Z:-84.42 [[ 3.04201028e-01 -1.18385366e-01 9.45223063e-01 1.71666076e+02] [ 4.70648297e-02 9.92903826e-01 1.09210320e-01 -6.30204197e+01] [-9.51444500e-01 1.12648709e-02 3.07614152e-01 -8.44206601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:-63.01, Z:-84.45 [[ 3.00157475e-01 -9.98823197e-02 9.48645883e-01 1.71664595e+02] [ 4.93227249e-02 9.94797526e-01 8.91355789e-02 -6.30086586e+01] [-9.52613646e-01 2.00350896e-02 3.03522382e-01 -8.44530979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-63.02, Z:-84.48 [[ 3.03726980e-01 -1.23097550e-01 9.44773473e-01 1.71686254e+02] [ 5.14476159e-02 9.92290655e-01 1.12749271e-01 -6.30190378e+01] [-9.51369047e-01 1.43613472e-02 3.07718520e-01 -8.44817358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-63.03, Z:-84.51 [[ 3.05016103e-01 -1.41154115e-01 9.41828378e-01 1.71705025e+02] [ 5.38564490e-02 9.89928827e-01 1.30921350e-01 -6.30272803e+01] [-9.50823149e-01 1.07904119e-02 3.09546292e-01 -8.45115766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-62.99, Z:-84.55 [[ 3.01720175e-01 -8.87716931e-02 9.49254719e-01 1.71687520e+02] [ 5.82873624e-02 9.95510811e-01 7.45708244e-02 -6.29935317e+01] [-9.51613114e-01 3.28300316e-02 3.05539964e-01 -8.45462537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:-63.02, Z:-84.57 [[ 3.01493495e-01 -1.43786890e-01 9.42564058e-01 1.71723212e+02] [ 6.01148961e-02 9.89463477e-01 1.31712667e-01 -6.30228050e+01] [-9.51571265e-01 1.69516281e-02 3.06960535e-01 -8.45716394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-62.99, Z:-84.61 [[ 2.98661561e-01 -9.35923174e-02 9.49758785e-01 1.71707452e+02] [ 6.29616996e-02 9.94943909e-01 7.82460428e-02 -6.29926804e+01] [-9.52279946e-01 3.64293420e-02 3.03044232e-01 -8.46068199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:-63.01, Z:-84.63 [[ 3.00655912e-01 -1.24829577e-01 9.45528212e-01 1.71731551e+02] [ 6.55860547e-02 9.91756690e-01 1.10077872e-01 -6.30089102e+01] [-9.51474904e-01 2.89179020e-02 3.06364591e-01 -8.46339926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-63.01, Z:-84.66 [[ 2.97904046e-01 -1.25285319e-01 9.46338612e-01 1.71739675e+02] [ 6.98099610e-02 9.91554866e-01 1.09295549e-01 -6.30070083e+01] [-9.52039783e-01 3.35042753e-02 3.04134370e-01 -8.46646624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:-63.00, Z:-84.70 [[ 2.97986008e-01 -1.24863056e-01 9.46368615e-01 1.71749408e+02] [ 7.09481476e-02 9.91562950e-01 1.08486295e-01 -6.30047507e+01] [-9.51929987e-01 3.48157022e-02 3.04330688e-01 -8.46960991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:-63.01, Z:-84.73 [[ 3.05614093e-01 -1.34159111e-01 9.42656543e-01 1.71767625e+02] [ 7.26215287e-02 9.90424285e-01 1.17413155e-01 -6.30085129e+01] [-9.49381978e-01 3.25740442e-02 3.12430460e-01 -8.47274763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:-62.98, Z:-84.76 [[ 2.98602666e-01 -9.05700845e-02 9.50070265e-01 1.71751600e+02] [ 7.35527515e-02 9.94709964e-01 7.17082940e-02 -6.29797114e+01] [-9.51538985e-01 4.84679943e-02 3.03684726e-01 -8.47617330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:-62.99, Z:-84.79 [[ 3.01188282e-01 -1.22401495e-01 9.45676209e-01 1.71774738e+02] [ 7.34964350e-02 9.91757073e-01 1.04958000e-01 -6.29943880e+01] [-9.50728086e-01 3.78917102e-02 3.07701683e-01 -8.47880757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-62.99, Z:-84.82 [[ 3.02470052e-01 -1.26585252e-01 9.44715852e-01 1.71789478e+02] [ 7.05543848e-02 9.91396421e-01 1.10250693e-01 -6.29947249e+01] [-9.50544027e-01 3.33063128e-02 3.08798871e-01 -8.48173237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-62.99, Z:-84.85 [[ 2.97885756e-01 -1.23917285e-01 9.46524476e-01 1.71794402e+02] [ 7.04239004e-02 9.91689642e-01 1.07666747e-01 -6.29903422e+01] [-9.52000289e-01 3.45855551e-02 3.04136957e-01 -8.48502333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.81, Y:-62.99, Z:-84.88 [[ 2.99345685e-01 -1.22592046e-01 9.46236414e-01 1.71805888e+02] [ 6.87773178e-02 9.91904216e-01 1.06750673e-01 -6.29884659e+01] [-9.51662672e-01 3.31242491e-02 3.05353799e-01 -8.48806572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:-62.99, Z:-84.91 [[ 2.97864503e-01 -1.21295671e-01 9.46870687e-01 1.71813248e+02] [ 6.73305078e-02 9.92093780e-01 1.05908139e-01 -6.29854143e+01] [-9.52230718e-01 3.22070091e-02 3.03676420e-01 -8.49117101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05361786499995 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:171.82, Y:-62.98, Z:-84.94 [[ 2.98454311e-01 -1.14502755e-01 9.47530550e-01 1.71821168e+02] [ 6.42736963e-02 9.92934999e-01 9.97445739e-02 -6.29822702e+01] [-9.52257274e-01 3.11320926e-02 3.03705247e-01 -8.49370685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-62.99, Z:-84.96 [[ 2.98355773e-01 -1.40116006e-01 9.44114049e-01 1.71838248e+02] [ 6.47091151e-02 9.89859400e-01 1.26455916e-01 -6.29917185e+01] [-9.52258664e-01 2.33639321e-02 3.04397049e-01 -8.49623652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:-62.98, Z:-84.99 [[ 2.96690499e-01 -1.27227838e-01 9.46460683e-01 1.71846267e+02] [ 6.26642985e-02 9.91543304e-01 1.13644455e-01 -6.29840643e+01] [-9.52915491e-01 2.55920647e-02 3.02154121e-01 -8.49936700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:-62.98, Z:-85.03 [[ 2.96888096e-01 -1.19161762e-01 9.47448116e-01 1.71849267e+02] [ 6.34102119e-02 9.92453614e-01 1.04952221e-01 -6.29772455e+01] [-9.52804599e-01 2.89188208e-02 3.02203736e-01 -8.50266139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:-62.97, Z:-85.06 [[ 2.96359451e-01 -1.18528314e-01 9.47693049e-01 1.71858144e+02] [ 6.40091721e-02 9.92503241e-01 1.04116003e-01 -6.29738450e+01] [-9.52929117e-01 2.98052859e-02 3.01724615e-01 -8.50587352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:-62.97, Z:-85.09 [[ 2.98073019e-01 -1.17670769e-01 9.47262406e-01 1.71868541e+02] [ 6.40360411e-02 9.92602071e-01 1.03152867e-01 -6.29726173e+01] [-9.52392703e-01 2.99118479e-02 3.03403066e-01 -8.50899133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.87, Y:-62.96, Z:-85.12 [[ 2.95184689e-01 -1.06075771e-01 9.49533533e-01 1.71867111e+02] [ 6.62151592e-02 9.93699571e-01 9.04251866e-02 -6.29627936e+01] [-9.53142986e-01 3.61813835e-02 3.00348723e-01 -8.51210716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:-62.99, Z:-85.15 [[ 2.97194244e-01 -1.60020126e-01 9.41312456e-01 1.71907656e+02] [ 6.61739912e-02 9.86937792e-01 1.46883619e-01 -6.29931619e+01] [-9.52521172e-01 1.86374361e-02 3.03901402e-01 -8.51463588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-62.97, Z:-85.18 [[ 2.98425586e-01 -1.16751419e-01 9.47265156e-01 1.71899840e+02] [ 6.75756531e-02 9.92583914e-01 1.01048029e-01 -6.29678202e+01] [-9.52037657e-01 3.38567444e-02 3.04101989e-01 -8.51819860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:-62.97, Z:-85.21 [[ 2.97887138e-01 -1.16628847e-01 9.47449716e-01 1.71909151e+02] [ 6.88138006e-02 9.92549943e-01 1.00544871e-01 -6.29661665e+01] [-9.52117595e-01 3.52465920e-02 3.03693536e-01 -8.52133462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:-62.96, Z:-85.25 [[ 2.97703761e-01 -1.13061054e-01 9.47939697e-01 1.71917397e+02] [ 7.15134440e-02 9.92813494e-01 9.59541196e-02 -6.29625036e+01] [-9.51975996e-01 3.92245301e-02 3.03649697e-01 -8.52452165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-62.96, Z:-85.27 [[ 2.96565964e-01 -1.18454626e-01 9.47637658e-01 1.71929208e+02] [ 7.26997726e-02 9.92198816e-01 1.01273162e-01 -6.29640010e+01] [-9.52241236e-01 3.88588694e-02 3.02864022e-01 -8.52744876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:-62.96, Z:-85.31 [[ 2.96217484e-01 -1.16064289e-01 9.48042342e-01 1.71938021e+02] [ 7.34750861e-02 9.92416944e-01 9.85394408e-02 -6.29611972e+01] [-9.52290194e-01 4.04683875e-02 3.02499084e-01 -8.53057209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-62.96, Z:-85.34 [[ 2.96562158e-01 -1.15457755e-01 9.48008646e-01 1.71947480e+02] [ 7.41929396e-02 9.92450390e-01 9.76607929e-02 -6.29590569e+01] [-9.52127247e-01 4.13730527e-02 3.02889380e-01 -8.53375353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47361786499997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:171.96, Y:-62.96, Z:-85.37 [[ 2.96313494e-01 -1.14452155e-01 9.48208320e-01 1.71955357e+02] [ 7.35959276e-02 9.92578271e-01 9.68091655e-02 -6.29574901e+01] [-9.52250992e-01 4.10984087e-02 3.02537549e-01 -8.53683771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50361786499997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:171.93, Y:-62.93, Z:-85.41 [[ 2.87459987e-01 -7.65392639e-02 9.54729541e-01 1.71932993e+02] [ 7.59261972e-02 9.95485995e-01 5.69459928e-02 -6.29318722e+01] [-9.54778492e-01 5.61192891e-02 2.91973726e-01 -8.54066854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53361786499997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:171.96, Y:-62.96, Z:-85.43 [[ 2.84977510e-01 -1.28848845e-01 9.49834614e-01 1.71962137e+02] [ 7.30677194e-02 9.90960970e-01 1.12505396e-01 -6.29610975e+01] [-9.55745221e-01 3.73407414e-02 2.91816281e-01 -8.54342893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56361786499997 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:171.97, Y:-62.96, Z:-85.45 [[ 2.88304471e-01 -1.21904453e-01 9.49747249e-01 1.71969077e+02] [ 7.16917594e-02 9.91827095e-01 1.05542906e-01 -6.29565769e+01] [-9.54851205e-01 3.76605594e-02 2.94687731e-01 -8.54548329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59361786499997 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:171.96, Y:-62.91, Z:-85.49 [[ 2.96059074e-01 -4.66268191e-02 9.54030903e-01 1.71958967e+02] [ 7.51502601e-02 9.96848712e-01 2.53985149e-02 -6.29059048e+01] [-9.52208729e-01 6.41762097e-02 2.98630125e-01 -8.54884501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62361786499994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:172.16, Y:-63.12, Z:-85.49 [[ 2.96859763e-01 -4.10829983e-01 8.62028425e-01 1.72159220e+02] [ 4.95018920e-02 9.08129067e-01 4.15753725e-01 -6.31172611e+01] [-9.53637166e-01 -8.07485144e-02 2.89923841e-01 -8.54933345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65361786499994 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:172.03, Y:-62.94, Z:-85.56 [[ 3.20698759e-01 -7.15034481e-02 9.44478461e-01 1.72027209e+02] [ 5.28239999e-02 9.96944774e-01 5.75390545e-02 -6.29353753e+01] [-9.45707106e-01 3.14384267e-02 3.23496050e-01 -8.55586796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499995 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:172.02, Y:-62.91, Z:-85.59 [[ 3.21126054e-01 -4.00859992e-02 9.46187703e-01 1.72023121e+02] [ 5.45106005e-02 9.98229737e-01 2.37904829e-02 -6.29129348e+01] [-9.45466367e-01 4.39375160e-02 3.22742688e-01 -8.55907581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71361786499995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:172.03, Y:-62.91, Z:-85.62 [[ 3.15250579e-01 -4.00505303e-02 9.48162975e-01 1.72025417e+02] [ 5.64440251e-02 9.98131642e-01 2.33943853e-02 -6.29081337e+01] [-9.47328425e-01 4.61430413e-02 3.16922191e-01 -8.56223831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:172.06, Y:-62.94, Z:-85.65 [[ 3.17156884e-01 -8.98475325e-02 9.44107479e-01 1.72056401e+02] [ 5.41231640e-02 9.95594490e-01 7.65656198e-02 -6.29383268e+01] [-9.46827436e-01 2.68147705e-02 3.20622479e-01 -8.56519899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77361786499995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:172.03, Y:-62.87, Z:-85.69 [[ 3.14455337e-01 -2.62359516e-03 9.49268644e-01 1.72030148e+02] [ 6.45866001e-02 9.97738050e-01 -1.86374432e-02 -6.28735456e+01] [-9.47072549e-01 6.71706777e-02 3.13913504e-01 -8.56924506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499995 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:172.18, Y:-63.06, Z:-85.68 [[ 3.03940802e-01 -3.36011258e-01 8.91468689e-01 1.72175386e+02] [ 5.80528047e-02 9.40530929e-01 3.34710986e-01 -6.30570169e+01] [-9.50920533e-01 -4.99800680e-02 3.05372121e-01 -8.56768070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83361786499995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:172.04, Y:-62.86, Z:-85.76 [[ 3.12128099e-01 1.95041986e-02 9.49839795e-01 1.72041345e+02] [ 6.60517778e-02 9.96924427e-01 -4.21764050e-02 -6.28563962e+01] [-9.47741111e-01 7.59030482e-02 3.09879839e-01 -8.57631757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499995 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:172.16, Y:-63.01, Z:-85.75 [[ 3.05019404e-01 -2.56145509e-01 9.17252768e-01 1.72156998e+02] [ 6.28849483e-02 9.66465726e-01 2.48976873e-01 -6.30104836e+01] [-9.50267671e-01 -1.82613845e-02 3.10898497e-01 -8.57463173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89361786499995 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:172.05, Y:-62.83, Z:-85.82 [[ 3.10425922e-01 5.62308646e-02 9.48932999e-01 1.72046869e+02] [ 7.17695349e-02 9.94013393e-01 -8.23802698e-02 -6.28303660e+01] [-9.47884424e-01 9.36774512e-02 3.04531861e-01 -8.58213977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499995 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:172.24, Y:-63.12, Z:-85.80 [[ 2.76579266e-01 -3.97586442e-01 8.74887953e-01 1.72237498e+02] [ 2.93028626e-02 9.13467552e-01 4.05855114e-01 -6.31194984e+01] [-9.60544248e-01 -8.66143880e-02 2.64296606e-01 -8.58016166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95361786499996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:172.16, Y:-62.97, Z:-85.88 [[ 3.17422449e-01 -1.17903601e-01 9.40925996e-01 1.72156952e+02] [ 3.76805845e-02 9.93025045e-01 1.11720333e-01 -6.29692658e+01] [-9.47535309e-01 -7.90014737e-06 3.19651118e-01 -8.58761274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499996 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:172.09, Y:-62.84, Z:-85.91 [[ 3.18263727e-01 4.88736010e-02 9.46741555e-01 1.72090637e+02] [ 6.32126791e-02 9.95353497e-01 -7.26331407e-02 -6.28386582e+01] [-9.45892360e-01 8.29625642e-02 3.13695482e-01 -8.59082709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01361786499996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:172.24, Y:-63.07, Z:-85.91 [[ 3.03440069e-01 -3.05525961e-01 9.02539756e-01 1.72241282e+02] [ 3.12329782e-02 9.49879963e-01 3.11050732e-01 -6.30700027e+01] [-9.52338504e-01 -6.61962509e-02 2.97774127e-01 -8.59108595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04361786499996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:172.17, Y:-62.93, Z:-85.97 [[ 3.30700626e-01 -5.61676442e-02 9.42062785e-01 1.72172743e+02] [ 3.75368892e-02 9.98220258e-01 4.63389576e-02 -6.29256190e+01] [-9.42988907e-01 2.00377841e-02 3.32220423e-01 -8.59677990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07361786499996 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:172.18, Y:-62.91, Z:-85.97 [[ 3.38485785e-01 -3.71889410e-02 9.40236330e-01 1.72179546e+02] [ 3.77379672e-02 9.98951305e-01 2.59255838e-02 -6.29118367e+01] [-9.40214454e-01 2.67071662e-02 3.39534252e-01 -8.59717259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10361786499996 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:172.17, Y:-62.87, Z:-86.01 [[ 3.42385620e-01 3.30829299e-02 9.38976894e-01 1.72170805e+02] [ 3.83283081e-02 9.98056193e-01 -4.91403834e-02 -6.28670966e+01] [-9.38777411e-01 5.28143563e-02 3.40452076e-01 -8.60052189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13361786499996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:172.16, Y:-62.80, Z:-86.06 [[ 3.44840230e-01 1.31362867e-01 9.29424022e-01 1.72161459e+02] [ 4.18347033e-02 9.87024258e-01 -1.55025716e-01 -6.27965813e+01] [-9.37728678e-01 9.23412818e-02 3.34870145e-01 -8.60638485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16361786499996 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:172.21, Y:-62.92, Z:-86.07 [[ 3.17377831e-01 -7.81750075e-02 9.45071416e-01 1.72206044e+02] [ 4.31186106e-02 9.96755172e-01 6.79699448e-02 -6.29240909e+01] [-9.47318372e-01 1.91780127e-02 3.19718792e-01 -8.60674442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19361786499996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:172.25, Y:-62.96, Z:-86.10 [[ 3.29777703e-01 -1.18538671e-01 9.36587022e-01 1.72250112e+02] [ 3.22621604e-02 9.92921261e-01 1.14308893e-01 -6.29569482e+01] [-9.43507191e-01 -7.48020332e-03 3.31267606e-01 -8.61049258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22361786499997 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:172.21, Y:-62.86, Z:-86.14 [[ 3.34538209e-01 2.76777830e-02 9.41975651e-01 1.72213646e+02] [ 4.07632948e-02 9.98208048e-01 -4.38069342e-02 -6.28572305e+01] [-9.41500154e-01 5.30531245e-02 3.32810495e-01 -8.61380659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25361786499997 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:172.24, Y:-62.89, Z:-86.16 [[ 3.34583781e-01 -2.89034408e-02 9.41922653e-01 1.72238541e+02] [ 3.84647393e-02 9.99115422e-01 1.69952337e-02 -6.28862827e+01] [-9.41580670e-01 3.05444798e-02 3.35399579e-01 -8.61638060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28361786499997 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:172.26, Y:-62.89, Z:-86.19 [[ 3.36313428e-01 -4.43098402e-02 9.40707136e-01 1.72255653e+02] [ 3.88295848e-02 9.98695513e-01 3.31592337e-02 -6.28919693e+01] [-9.40949277e-01 2.53753720e-02 3.37595244e-01 -8.61944514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31361786499997 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:172.28, Y:-62.93, Z:-86.21 [[ 3.28528415e-01 -1.08739688e-01 9.38213601e-01 1.72281608e+02] [ 3.65866991e-02 9.94070024e-01 1.02402155e-01 -6.29257379e+01] [-9.43785195e-01 6.84121125e-04 3.30558675e-01 -8.62094163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34361786499997 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:172.27, Y:-62.87, Z:-86.25 [[ 3.38149162e-01 -3.05762843e-02 9.40595681e-01 1.72274948e+02] [ 3.89067358e-02 9.99071762e-01 1.84900086e-02 -6.28732951e+01] [-9.40287940e-01 3.03431267e-02 3.39024902e-01 -8.62451282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37361786499994 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:172.29, Y:-62.91, Z:-86.27 [[ 3.29287065e-01 -9.05061198e-02 9.39882264e-01 1.72294895e+02] [ 3.76231686e-02 9.95862761e-01 8.27155215e-02 -6.29071762e+01] [-9.43480008e-01 8.12419762e-03 3.31329853e-01 -8.62693187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499994 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:172.30, Y:-62.89, Z:-86.30 [[ 3.34234450e-01 -6.94475204e-02 9.39927856e-01 1.72303079e+02] [ 3.74412745e-02 9.97472689e-01 6.03853165e-02 -6.28900994e+01] [-9.41745976e-01 1.50092438e-02 3.35989940e-01 -8.63021751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43361786499995 meters Centerline goodness : 0.982163 Centerline is valid? [True, True] Translation: X:172.31, Y:-62.89, Z:-86.34 [[ 3.27245044e-01 -7.74718881e-02 9.41758349e-01 1.72311131e+02] [ 3.71638066e-02 9.96917570e-01 6.90956603e-02 -6.28853656e+01] [-9.44208416e-01 1.23881128e-02 3.29115484e-01 -8.63373082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499995 meters Centerline goodness : 0.982163 Centerline is valid? [True, True] Translation: X:172.36, Y:-62.96, Z:-86.36 [[ 3.25612212e-01 -1.89231274e-01 9.26373689e-01 1.72364563e+02] [ 2.87632218e-02 9.81296692e-01 1.90340431e-01 -6.29607889e+01] [-9.45065799e-01 -3.53316769e-02 3.24965087e-01 -8.63616393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49361786499995 meters Centerline goodness : 0.970428 Centerline is valid? [True, True] Translation: X:172.32, Y:-62.81, Z:-86.41 [[ 3.41835319e-01 2.22922574e-02 9.39495434e-01 1.72318805e+02] [ 4.12258418e-02 9.98400479e-01 -3.86899690e-02 -6.28136144e+01] [-9.38855178e-01 5.19570881e-02 3.40369529e-01 -8.64134595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499995 meters Centerline goodness : 0.903030 Centerline is valid? [True, False] Translation: X:172.32, Y:-62.80, Z:-86.42 [[ 3.47060578e-01 3.60923142e-02 9.37147961e-01 1.72322006e+02] [ 4.47622501e-02 9.97482882e-01 -5.49931069e-02 -6.27983871e+01] [-9.36773877e-01 6.10347908e-02 3.44571412e-01 -8.64244840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55361786499995 meters Centerline goodness : 0.976214 Centerline is valid? [False, True] Translation: X:172.33, Y:-62.78, Z:-86.43 [[ 3.51955096e-01 5.09314726e-02 9.34630192e-01 1.72325207e+02] [ 4.97630659e-02 9.96088215e-01 -7.30199012e-02 -6.27817035e+01] [-9.34693130e-01 7.22097901e-02 3.48043817e-01 -8.64342034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499995 meters Centerline goodness : 0.964569 Centerline is valid? [True, True] Translation: X:172.35, Y:-62.82, Z:-86.46 [[ 3.47621136e-01 -1.62769895e-02 9.37493790e-01 1.72347937e+02] [ 4.92748722e-02 9.98784823e-01 -9.29901584e-04 -6.28151583e+01] [-9.36339433e-01 4.65181401e-02 3.48000761e-01 -8.64605211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61361786499995 meters Centerline goodness : 0.943498 Centerline is valid? [True, False] Translation: X:172.35, Y:-62.80, Z:-86.47 [[ 3.51979070e-01 -2.60837076e-05 9.36007871e-01 1.72348982e+02] [ 5.57687885e-02 9.98224026e-01 -2.09436368e-02 -6.27969979e+01] [-9.34344999e-01 5.95717468e-02 3.51355419e-01 -8.64694837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6188.69 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%| | 0/8484 [00:00